• Journal of Power System Engineering
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• v.17 no.5
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• pp.121-127
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• 2013

In this paper, we propose a distance measurement system for automatic berthing control using a stereo camera mounted on a rotation control device, and a radial pattern target. Automatically controlling the position and attitude of a ship aims to prevent maritime accidents due to human error. Our goal is to measure the relative distance between a ship and an onshore or offshore target for berthing. Therefore, the distance should be continuously measured while tracking a fixed point on a target. To this end, we developed a stereo camerabased distance measurement system that satisfied these requirements. This paper describes the structure and principle of the measurement system. We validate the distance error for target incline due to the relative position and attitude between a camera and a target in miniature scale. In addition, the findings of an experiment in an outdoor environment demonstrate that the proposed measurement system has accuracy within 1 m at a range of 20-100 m which is the acceptable accuracy for automatic berthing.

• Journal of Power System Engineering
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• v.15 no.5
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• pp.91-96
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• 2011

The handling ability of containers at the terminal strongly depends on the performance of the cargo handling system such as RTGC(Rubber Tired Gantry Crane) and RMGC(Rail Mounted Gantry Crane). This paper introduces a guide line measurement system on the operating condition, in which two camera are installed to detect the guide line. Because the line tracking is the basic technique for control system design of RTGC, it is necessary to develop a useful and reliable measurement system. If the displacement and angle of the RTGC relative to a guide line as the trajectory to follow is obtained, the position of RTGC is automatically calculated. Therefore, in this paper, a camera-based measurement system is introduced. The proposed measurement system is robust against light fluctuation and cracks of the guide line. This system consists of two camera and a PC which are installed at the lower side of the RTGC. Two edges of the guide line are detected from an input image taken by the cameras in the moving state, and these positions are determined in a Hough parameter space by using the Hough transformation method. From the experimental results, the accuracy and usefulness of the proposed system is evaluated by comparing other instruments.

• Journal of Ocean Engineering and Technology
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• v.21 no.4
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• pp.45-54
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• 2007

In the context of auto-landing containers from a container ship to a truck or automatic guided vehicle and vice versa, this research investigates three schemes, one in Part I and two in Part II, for measuring the absolute position of a container. Coordinate transformations between the reference-coordinate, sensor-coordinate, and body-coordinate systems are briefly discussed. The scheme explored in Part I aims the use of three laser-slit sensors, which are relatively inexpensive. In this case, nine nonlinear equations are formulated for six unknown variables (three for orientation and three for position), so a closed-form solution is not available. Instead, an approximate solution through linearization was derived. An advantage of the method in Part I is its ability to measure an absolute position in 3D space, while a disadvantage is the computation time required to obtain pseudo-inverses and the approximate nature of the obtained solution. Numerical examples are provided.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.5
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• pp.775-781
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• 2011

For the measurement of absolute position of mobile robot in indoor environments, the ultrasonic positioning systems using ultrasound have been researched for several years. Most of these ultrasonic positioning systems to avoid interference between the ultrasound are used for sequential transmitting. However, due to the use of sequential transmitting, the positions of transmitter to receive an ultrasound will change when the mobile robot moves. Therefore the accuracy of positioning is reduced. In this paper, the new position estimation algorithm with weighting factor according to the time of receipt is proposed. By applying the proposed algorithm to existing Ultrasonic Satellite System(USAT), the improved USAT is configured. The positioning performance of the improved USAT with the proposed position estimation algorithm are verified by experiments.

• Physical Therapy Korea
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• v.18 no.4
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• pp.34-42
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• 2011

The lumbrical muscles contribute to the intrinsic plus position, that is simultaneous metacarpophalangeal (MCP) flexion and interphalangeal (IP) extension. The strength of the lumbrical muscles is necessary for normal hand function. However, there is no objective and efficient method of strength measurement for the lumbrical muscles. In addition, previous studies have not investigated the measurement of the cross-sectional area (CSA) of the lumbrical muscles using ultrasonography (US) and the relationship between lumbrical muscle strength in the intrinsic plus position and the CSA. Therefore, the purpose of this study was to identify the measurement method of the CSA of the lumbrical muscles using US and to examine the relationship between maximal isometric strength and the CSA of lumbrical muscles. Nine healthy males participated in this study. Maximal isometric strength of the second, third, and fourth lumbrical muscles was assessed using a tensiometer in the intrinsic plus position which isolated MCP flexion and IP extension. The CSA of the lumbrical muscles was measured with an US. The US probe was applied on the palmar aspect of the metacarpal head with a transverse view of the hand in resting position. There was no significant difference between maximal isometric strength of the lumbrical muscles, but the fourth lumbrical muscle was stronger than the others. The CSA of the lumbrical muscles was significantly different and the fourth lumbrical muscle was significantly larger than the second lumbrical muscle. There was moderate to good correlation between maximal isometric strength and the CSA of the lumbrical muscles. Therefore, we conclude that maximal isometric strength of the lumbrical muscles was positively correlated to the CSA of the lumbrical muscle in each finger, while the measurement of the CSA of the lumbrical muscles, using US protocol in this study, was useful for measuring the CSA of the lumbrical muscles.

• Journal of Korean Physical Therapy Science
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• v.25 no.1
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• pp.44-51
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• 2018

Background: In this paper, the relationship between the Cranio-Vertebral Angle (CVA) and the vital capacity in each position is reviewed, and the vital capacity in the position is studied. Methods: This study targeted 20 non-smoking female students of U university, which is located in Gyeongju-si. To review the Forward Head Posture (FHP) of each subject, CVA was measured, and FVC, FEV1, and FEF (25-75%) were measured and analyzed using a spirometer. Subjects were ordered to exhale three times with ease and then inhale up to their total lung capacity. After then, they were requested to exhale longer than six seconds. Then the inspiration and expiration were repeated. The measurement was executed in three positions, including supine, prone, and sitting. In each position the measurement was repeated twice, and a one-minute break was given between each cycle, so it was measured six times in total. SPSS 14.0 for Windows was used to analyze the data. The subjects' general properties were analyzed using descriptive statistics, and the correlation between the angle and the respiration variable result in each position was analyzed. The result of the respiration variable in each position was analyzed using the one-way ANOVA, and then a Scheffe post-hoc comparison was executed. Results: According to the analysis result of the correlation between the angle and respiration variable in each position, the sitting position and FEF (25-75%) showed a positive correlation (P<0.05). The respiration variable in each position showed a significant difference in FVC (p<0.05), and the Scheffe post-hoc comparison differed in prone and sitting positions. Conclusion: To increase the FVC of FHP patients, different exercises for each position can be applied, and the result of this study can be utilized as background data for further research.

• Transactions of the Korean Society of Automotive Engineers
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• v.25 no.2
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• pp.179-189
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• 2017

This paper is the fifth investigation on the methods of evaluating flow characteristics in a steady flow bench. In previous studies, several assumptions used in the steady flow bench were examined and it was concluded that the assumption of the solid rotation may lead to serious problems. In addition, though the velocity profiles were improved as the measuring position went downstream, the distributions were far from ideal regardless of the valve angle and evaluation position. The eccentricities were also not sufficiently small to disregard the effect on impulse swirl meter (ISM) measurement. Therefore, the effect of these distribution and eccentricity changes according to the positions needs to be analyzed to discuss the method of flow characteristics estimation. In this context, the effects of evaluation position on the steady flow characteristics were studied. For this purpose, the swirl coefficient and swirl ratio were assessed and compared via measurement of the conventional ISM and calculation based on the velocity by particle image velocimetry(PIV) from 1.75B, 1.75 times bore position apart from the cylinder head, to the 6.00B position. The results show that the swirl coefficients by ISM strictly decrease and the curves as a function of the valve lift become smooth and linear as the measuring position goes downstream. However, the values through the calculation based on the PIV are higher at the farther position due to the approach of the tangential velocity profile to ideal. In addition, there exists an offset effect between the velocity distribution and eccentricity in the low valve lift range when the coefficients are estimated based on the swirl center. Finally, the curve of the swirl ratio by ISM and by PIV evaluation as a function the measuring position intersect around 5.00B plane except at $26^{\circ}$ valve angle.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.12
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• pp.1537-1543
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• 1999

In this paper, PSD(Position Sensitive Detector) sensor system that estimates position for moving objects in 2D plane is developed. PSD sensor is used to measure the position of an incidence light in real-time. To get the position of light source of moving target, a new parameter calibration algorithm and neural network technique are proposed and applied. Real-time position measurements of the mobile robot with light source is examined to validate the proposed method. It is shown that the proposed technique provides accurate position estimation of the moving object.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.3
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• pp.66-73
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• 2008

This paper presents a position sensorless control system of SRM over wide speed range. Due to the doubly salient structure of the SRM, the phase inductance varies along with the rotor position. Most of the sensorless control techniques are based on the fact that the magnetic status of the SRM is a function of the angular rotor position. The rotor position estimation of the SRM is somewhat difficult because of its highly nonlinear magnetizing characteristics. In order to estimate more accurate rotor position over wide speed range, Neural Network is used for this highly nonlinear function approximation. Magnetizing data patterns of the prototype 1-hp SRM are obtained from locked rotor test, and used for the Neural Network training data set. Through measurement of the flux-linkage and phase currents, rotor position is able to estimate from current-flux-rotor position lookup table which is constructed from trained Neural Network. Experimental results for a 1-hp SRM over 16:1 speed range are presented for the verification of the proposed sensorless control algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.8
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• pp.62-69
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• 2003

In most shipyards, the measurement of 3-dimensional relative position of pipes should be connected in the block depends on the manual operation. It results a very tedious and inefficient procedure, thus the proper measurement system is needed to improve productivity and accuracy. This paper describes the development of pipe measurement system including system concepts, measuring procedures, system calibration, and its accuracy and productivity. And also, the possibility and things to be improved for application in shipyard are discussed in this paper.