• Journal of Positioning, Navigation, and Timing
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• v.4 no.2
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• pp.43-55
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• 2015

In the case of satellite navigation positioning, the shielding of satellite signals is determined by the environment of the region at which a user is located, and the navigation performance is determined accordingly. The accuracy of user position determination varies depending on the dilution of precision (DOP) which is a measuring index for the geometric characteristics of visible satellites; and if the minimum visible satellites are not secured, position determination is impossible. Currently, the GLObal NAvigation Satellite system (GLONASS) of Russia is used to supplement the navigation performance of the Global Positioning System (GPS) in regions where GPS cannot be used. In addition, the European Satellite Navigation System (Galileo) of the European Union, the Chinese Satellite Navigation System (BeiDou) of China, the Quasi-Zenith Satellite System (QZSS) of Japan, and the Indian Regional Navigation Satellite System (IRNSS) of India are aimed to achieve the full operational capability (FOC) operation of the navigation system. Thus, the number of satellites available for navigation would rapidly increase, particularly in the Asian region; and when integrated navigation is performed, the improvement of navigation performance is expected to be much larger than that in other regions. To secure a stable and prompt position solution, GPS-GLONASS integrated navigation is generally performed at present. However, as available satellite navigation systems have been diversified, finding the minimum satellite constellation combination to obtain the best navigation performance has recently become an issue. For this purpose, it is necessary to examine and predict the navigation performance that could be obtained by the addition of the third satellite navigation system in addition to GPS-GLONASS. In this study, the current status of the integrated navigation performance for various satellite constellation combinations was analyzed based on 2014, and the navigation performance in 2020 was predicted based on the FOC plan of the satellite navigation system for each country. For this prediction, the orbital elements and nominal almanac data of satellite navigation systems that can be observed in the Korean Peninsula were organized, and the minimum elevation angle expecting signal shielding was established based on Matlab and the performance was predicted in terms of DOP. In the case of integrated navigation, a time offset determination algorithm needs to be considered in order to estimate the clock error between navigation systems, and it was analyzed using two kinds of methods: a satellite navigation message based estimation method and a receiver based method where a user directly performs estimation. This simulation is expected to be used as an index for the establishment of the minimum satellite constellation for obtaining the best navigation performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1883-1886
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• 2005

In this paper, a decoupled dual servo (DDS) stage for ultra-precision scanning system with large working range is introduced. In general, dual servo systems consist of a fine stage for short range and a coarse stage for long range. The proposed DDS also consists of a $XY\theta$ fine stage for handling and carrying workpieces and one axis coarse stage. Its coarse stage consists of air bearing guide system and a coreless linear motor with force ripple. The fine has four voice coil motors(VCM) as its actuator. According to a VCM's nature, there are no mechanical connections between coils and magnetic circuits. Moreover, VCM doesn't have force ripples due to imperfections of commutation components of linear motor systems - currents and flux densities. However, due to the VCM's mechanical constraints the working range of the fine is about $25mm^2$. To break that hurdle, the coarse stage with linear motors is used to move the fine about 500mm. Because of the above reasons, the proposed DDS can achieve higher precision scanning than other stages with only one servo. With MATLAB's Sequential Quadratic Programming (SQP), the VCMs are optimally designed for the highest force under conditions and constraints such as thermal dissipations due to its coil, its size, and so on. And for their movements without any frictions, guide systems of the DDS are composed of air bearings. To get precisely their positions, a linear scale with 5nm resolution are used for the coarse stage's motion and three plane mirror laser interferometers with 5nm for the fine's $XY\theta$ motions. With them, on scanning the two stages have same trajectories. The control algorithm is named Parallel method. The embodied ultra-precision scanning system has sub 100nm following error and in-positioning stability.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.999-1004
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• 2005

An algorithm for a hybrid controller consists of a sliding mode control part and a fuzzy logic part which ar purposely for nonlinear systems. The sliding mode part of the solution is based on "eigenvalue/vector"-type controller is used as the backstepping approach for tracking errors. The fuzzy logic part is a Mamdani fuzzy model. This is designed by applying sliding mode control (SMC) method to the dynamic model. The main objective is to keep the update dynamics in a stable region by used SMC. After that the plant behavior is presented to train procedure of adaptive neuro-fuzzy inference systems (ANFIS). ANFIS architecture is determined and the relevant formulation for the approach is given. Using the error (e) and rate of error (de), occur due to the difference between the desired output value (yd) and the actual output value (y) of the system. A dynamic adaptation law is proposed and proved the particularly chosen form of the adaptation strategy. Subsequently VSC creates a sliding mode in the plant behavior while the parameters of the controller are also in a sliding mode (stable trainer). This study considers the ANFIS structure with first order Sugeno model containing nine rules. Bell shaped membership functions with product inference rule are used at the fuzzification level. Finally the Mamdani fuzzy logic which is depends on adaptive neuro-fuzzy inference systems structure designed. At the transferable stage from ANFIS to Mamdani fuzzy model is adjusted for the membership function of the input value (e, de) and the actual output value (y) of the system could be changed to trapezoidal and triangular functions through tuning the parameters of the membership functions and rules base. These help adjust the contributions of both fuzzy control and variable structure control to the entire control value. The application example, control of a mass-damper system is considered. The simulation has been done using MATLAB. Three cases of the controller will be considered: for backstepping sliding-mode controller, for hybrid controller, and for adaptive backstepping sliding-mode controller. A numerical example is simulated to verify the performances of the proposed control strategy, and the simulation results show that the controller designed is more effective than the adaptive backstepping sliding mode controller.

• Investigative Magnetic Resonance Imaging
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• v.14 no.1
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• pp.56-63
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• 2010

Purpose : DIR image is relatively free from susceptibility artifacts therefore, DIR image can make it possible to reliably measure cortical thickness/volume. One drawback of the DIR acquisition is the long scan time to acquire the fully sampled 3D data set. To solve this problem, we applied a parallel imaging method (GRAPPA) and verify the reliability of using the volumetric study. Materials and methods : Six healthy volunteers (3 males and 3 females; age $25.33{\pm}2.25$ years) underwent MRI using the 3D DIR sequence at a 3.0T Siemens Tim Trio MRI scanner. GRAPPA simulation was performed from the fully sampled data set for reduction factor 2. Data reconstruction was performed using MATLAB R2009b. Freesurfer v.4.3.0 was used to evaluate the cortical thickness of the entire brain, and to extract white matter information from the DIR image, Analyze 9.0 was used. The global cortical thickness estimated from the reconstructed image was compared with reference image by using a T-test in SPSS. Results : Although reduced SNR and blurring are observed from the reconstructed image, in terms of segmentation the effect was not so significant. The volumetric result was validated that there were no significant differences in many cortical regions. Conclusion : This study was performed with DIR image for a volumetric MRI study. To solve the long scan time of 3D DIR imaging, we applied GRAPPA algorithm. According to the results, fast imaging can be done with reduction factor 2 with little loss of image quality at 3.0T.

• The Korean Journal of Nuclear Medicine Technology
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• v.17 no.2
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• pp.53-58
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• 2013

Purpose: To optimize correction method for SPECT/CT, image quality consisting of resolution and contrast was evaluated using three radioisotopes ($^{99m}Tc$, $^{201}Tl$ and $^{131}I$) and three different correction methods; attenuation correction (AC), scatter correction (SC) and both attenuation and scatter correction (ACSC). Materials and Methods: Images were acquired with a SPECT/CT scanner and a conventional CT protocol with an OESM reconstruction algorithm (2 iterations and 10 subsets). For resolution measurement, fixed radioactivity (2.22 kBq) was infused into a spatial resolution phantom and full width at half maximum (FWHM) was measured using a vendor-provided software. For contrast evaluation, radioactive source with a ratio of 1:8 to background was filled in a Flanged Jaszczak phantom and percent contrast (%) were calculated. All the parameters for image quality were compared with non-correction (NC) method. Results: As compared with NC, image resolution of all three isotopes were significantly improved by AC and ACSC, not by SC. In particular, ACSC showed better resolution than AC alone for $^{99m}Tc$ and $^{201}Tl$. Image contrast of all three radioisotopes in a sphere with the largest diameter were enhanced by all correction methods. ACSC showed the highest contrast in all three radioisotopes, which was the most accurate in $^{99m}Tc$ (85.9%). Conclusion: Image quality of SPECT/CT was improved in all the radioisotopes by CT-based attenuation correction methods, except SC alone. SC failed to improve resolution in any radioisotopes, but it was effective in contrast enhancement. ACSC would be the best correction method as it improved resolution in radioisotopes with low energy levels and contrast in radioisotope with low energy levels. However, in radioisotope with high energy level, AC would be better than ACSC for resolution improvement.

• Journal of the Korea Society of Computer and Information
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• v.24 no.12
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• pp.51-57
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• 2019

In this paper, we analyzed the performance of IoT based smart wearable mine detection device. There are various mine detection methods currently used by the military. Still, in the general field, mine detection is performed by visual detection, probe detection, detector detection, and other detection methods. The detection method by the detector is using a GPR sensor on the detector, which is possible to detect metals, but it is difficult to identify non-metals. It is hard to distinguish whether the area where the detection was performed or not. Also, there is a problem that a lot of human resources and time are wasted, and if the user does not move the sensor at a constant speed or moves too fast, it is difficult to detect landmines accurately. Therefore, we studied the smart wearable mine detection device composed of human body antenna, main microprocessor, smart glasses, body-mounted LCD monitor, wireless data transmission, belt type power supply, black box camera, which is to improve the problem of the error of mine detection using unidirectional ultrasonic sensing signal. Based on the results of this study, we will conduct an experiment to confirm the possibility of detecting underground mines based on the Internet of Things (IoT). This paper consists of an introduction, experimental environment composition, simulation analysis, and conclusion. Introduction introduces the research contents such as mines, mine detectors, and research progress. It consists of large anti-personnel mine, M16A1 fragmented anti-mine, M15 and M19 antitank mines, plastic bottles similar to mines and aluminum cans. Simulation analysis is conducted by using MATLAB to analyze the mine detection device implementation performance, generating and transmitting IoT signals, and analyzing each received signal to verify the detection performance of landmines. Then we will measure the performance through the simulation of IoT-based mine detection algorithm so that we will prove the possibility of IoT-based detection landmine.