• 한국항공우주학회지
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• 제45권10호
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• pp.836-843
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• 2017

달 탐사에 있어 로버 활용의 필요성은 (구)소련과 중국의 사례와 미국의 수차례에 걸친 화성 탐사로 인해 입증되었다. 달 탐사 로버의 성공적인 운용을 위해서는 높은 정밀도의 항법 성능이 요구되며, 이를 위해서는 높은 정밀도의 초기 정렬이 필수적이다. 일반적으로는 단일 위치 정렬을 수행하나, 높은 수준의 초기 정렬 성능이 필요한 경우 다중위치 정렬을 수행한다. 하지만, 달 환경의 제약으로 인해 달 탐사 로버의 초기 정렬 성능은 지구환경에 비하여 떨어지게 되며, 이는 다중위치 정렬을 수행하여도 극복할 수 없다. 따라서 본 논문에서는 태양 센서를 보조로 활용한 달 환경에서의 다중위치 정렬 기법을 제안한다. 태양 벡터의 측정치 모델을 구성하고, 이에 대한 가관측성 분석을 수행하였다. 컴퓨터 시뮬레이션을 통해 제안한 알고리즘의 성능을 분석하였고, 그 결과 초기 자세 추정 성능이 크게 향상되었음을 확인하였다.

• 한국군사과학기술학회지
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• 제6권1호
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• pp.21-29
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• 2003

The Strap Down Inertial Measurement Unit(SDIMU) is recently used for the sensor package of the modern underwater vehicles such as torpedoes and unmanned underwater-vehicles. For using SDIMU, an initial alignment must be carried out before the fire or navigation stage. The general initial alignment methods require that a mother vehicle Is a stationary condition or the Inertial Navigation System(INS) of vehicle is received the specific of data navigation from the mother vehicle. But an underwater vehicle dropped from aircraft is hard to satisfy above both necessary conditions of the general initial alignment. So, we suggest a new strap down initial alignment method of an underwater vehicle dropped from aircraft without using any aided sensors. The highlight point of this method is that a period of initial alignment is not before the fire but during running stage to fix alignment error. And we verify it by analyzing various data of S/W simulations, Hardware In the Loop Simulation(HILS) tests and sea trials.

• 대한족부족관절학회지
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• 제16권3호
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• pp.169-174
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• 2012

Purpose: There are various methods proposed for the evaluation of the hindfoot alignment. However, due to structural calcaneus variances between patients, it is hard to assess this alignment definitively. Thus, this study proposes a new method for evaluating of the hindfoot alignment and its comparisons to the existing current methods. Materials and Methods: This study includes simple weight bearing hindfoot coronal view radiographs of 120 patients, taken between the time period of March 2008 to November 2009. Among the 120 patients, there was a 1:1 ratio of male to female with an average age of 40. The newly proposed method for evaluating this alignment is to draw a moment arm from the point where the sustentaculum tali meets the medial calcaneus border to the most prominent aspect of the lateral process of the calcaneal tuberosity. The angle produced via the intersection of this moment arm to the mid-longitudinal axis of the tibia is found and used to evaluate the hindfoot alignment. The inter and intra-observer reliability was evaluated using the coefficient of intraclass correlation. This study also investigates the comparisons between the newly proposed method to the traditionally used Saltzman et al hindfoot alignment evaluating technique. Results: The newly proposed method has higher inter and intra-observer reliability than the existing traditional Saltzman et al technique. Conclusion: This new method is recommended over the traditionally used Saltzman et al technique as it has a stronger confidence level and is appropriate for assessing hindfoot alignment in simple radiographs.

• 한국전기전자재료학회논문지
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• 제35권1호
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• pp.58-65
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• 2022

The field of liquid crystal display (LCD) is constantly in the spotlight and the process of depositing an alignment layer in the LCD manufacturing process is very important to obtain excellent performance such as low-power driving and high-speed response to improve LCD performance. Therefore, research on liquid crystal (LC) alignment is being actively conducted. When manufacturing LCD, it is necessary to consider the effect of the alignment layer thickness as one of the factors affecting various LCD performances. In addition, previous studies confirmed the LC alignment characteristics correlate with the rotation speed in the spin coating process. Therefore, the electro-optical properties of the LCD were investigated by manufacturing a polyimide alignment layer by varying the rotation speed in the spin coating process in this study. It was confirmed that the thickness of the polyimide alignment layer was controlled according to the spin coating conditions. The average transmittances of anti-parallel LC cells at the spin coating speed of 2,500 rpm and 3,000 rpm are about 60%, which indicates that the LC cell has relatively higher performance. At the spin coating speed of 3,000 rpm, the voltage-transmittance curve of twisted nematic (TN) LC cell was below 1.5 V, which means that the TN LC cell operated at a low power. In addition, high-speed operating characteristics were confirmed with a response time of less than 30 ms. From these derived data, we confirmed that the ideal spin coating speed is 3,000 rpm. And these results provide an optimized polyimide alignment layer process when considering enhanced future LCD manufacturing.

• 제어로봇시스템학회논문지
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• 제14권6호
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• pp.595-602
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• 2008

In this paper, performance of the initial alignment for INS whose attitude is not leveled is investigated. Observability of the initial alignment filter is analyzed and estimation errors of the estimated state variables are derived. First, the observability is analyzed using the rank test of observability matrix and the normalized error covariance of the Kalman filter based on the 10-state model. In result, it can be seen that the accelerometer biases on horizontal axes are unobservable. Second, the steady-state estimation errors of the state variables are derived using the observability equation. It is verified that the estimates of the state variables have errors due to the unobservable state variables and the non-leveling tilt angles of a vehicle containing the INS. Especially, this paper shows that the larger the tilt angles of the vehicle are, the larger the estimation errors corresponding to the sensor biases are. Finally, it is shown that the performance of the 8-state model excepting the accelerometer biases on horizontal axes is better than that of the 10-state model in the initial alignment by simulation.

• 제어로봇시스템학회논문지
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• 제14권4호
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• pp.369-375
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• 2008

The kinematics and control problem of a visual alignment system is investigated, which plays a crucial role in the fabrication process of flat panel displays. The first solution is the inverse kinematics of a 4PPR parallel alignment mechanism. It determines the driving distance of each joint to compensate the misalignment between mask and panel. Second, an efficient vision algorithm for fast alignment mark recognition is suggested, where by extracting essential feature points to represent the geometry of a mark, the geometric template matching enables much faster object recognition comparing with the general template matching. Finally, the overall visual alignment process including the kinematic solution, vision algorithm, and joint control is implemented and experimental results are given.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.486-486
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• 2000

This paper is concerned with a transfer alignment method for the SDINS(StrapDown Inertial Navigation System) under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 산업경영시스템학회지
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• 제33권2호
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• pp.39-47
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• 2010

Bonding glasses is one of the important PDP (Plasma Panel Display) manufacturing processes. Bonding process includes aligning front and rear glasses with fixing clips. In this process, clips have to maintain perfect alignment between the front and rear glasses. The panel which is fixed by clips goes to next process called sealing. The sealing process is performed in high temperature ($465^{\circ}C$). During sealing process, alignment is very important because it can affect seriously on the PDP screen quality. This study suggests redesigned clips to improve PDP panel alignment and also shows stabilization of clips in a high temperature during sealing process.

• 제어로봇시스템학회논문지
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• 제8권2호
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• pp.178-184
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• 2002

This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. In order to reduce alignment errors induced by ship body flexure, a linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to the dominant y axis component and defining the flexure state of random constant type. And then a robust state estimation scheme is introduced to account for modeling uncertainty of the flexure. By interpreting the simulation results and comparing with the velocity and DCM(Direction Cosine Matrix) partial matching method, it is shown that the proposed method is effective enough to improve the azimuth alignment performance.

• Physical Therapy Rehabilitation Science
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• 제5권2호
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• pp.84-88
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• 2016

Objective: Generally, it is known that there is a correlation between excessive calcaneus eversion and a patient with low back pain and it also affects pelvic alignment. However, there are not enough studies that show calcaneal eversion having an effect on the alignment of the trunk. Design: Cross-sectional study. Methods: A 3-dimensional motion analysis system was used to assess the lower limbs, pelvic alignment, and trunk alignment with increased unilateral and bilateral calcaneal eversion in twenty-one subjects. All subjects were asked to maintain a static posture for seven seconds on a wedge three times per posture for measurement and analysis purposes. The wedge used in the process was a lateral wedge with a 10-degree tilt to the lateral direction. To unify all of the subjects' foot position, the front and inner side of the wedge were marked. The height of the tilted wedge's inner side and flat wedge were balanced equally in order to be able to maintain the lateral part of the foot to the same height when producing an increased calcaneal eversion. Results: Comparing the changes in trunk and pelvic alignment in accordance to calcaneal eversion for each posture, there was a significant different in the X and Y-axis for each posture, but not in the Z-axis (p<0.05). Thus, it can be confirmed that calcaneal eversion in the sagittal plane and frontal plane may have and effect on the pelvis and the trunk. Conclusions: Postures with increased bilateral and unilateral calcaneal eversion has an effect on pelvic alignment, but does not cause any changes in trunk alignment.