• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.3
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• pp.48-54
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• 2012

This paper introduces the kinematic calibration method to improve the positioning accuracy of a parallel mechanism. Since all the actuators in the parallel mechanism are controlled simultaneously toward the target position, the volumetric errors originated from each motion element are too complicated. Therefore, the exact evaluation of the error sources of each motion element and its calibration is very important in terms of volumetric errors. In the calibration processes, the measurement of the errors between commands and trajectories is necessary in advance. To do this, a digitizer was used for the data acquisition in 3 dimensional space rather than arbitrary planar error data. After that, the optimization process that was used for reducing the motion errors were followed. Consequently, Levenberg-Marquart algorithm as well as the error data acquisition method turned out effective for the purpose of the calibration of the parallel mechanism.

• Journal of electromagnetic engineering and science
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• v.15 no.2
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• pp.97-103
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• 2015

This paper investigates the effect of absorption loss by a human body to the received signal strength with respect to on-body transmitting antenna positions in on-to-off wireless body area networks. This investigation is based on measurement results obtained from experiments performed on human bodies (male and female) using planar inverted-F antennas in an anechoic chamber. The total absorption loss by the human body is also presented through the SEMCAD-X simulations. Our investigation showed that the received signal strength becomes lower when the transmitting antenna is mounted at a specific position where more absorption loss is experienced. The statistical analyses of on-to-off body channel characteristics based on the measurement results are presented.

• Journal of the Korea institute for structural maintenance and inspection
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• v.18 no.6
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• pp.123-130
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• 2014

In this study, a vision-based displacement measurement system is developed to accurately measure the displacement of a structure with locating the camera at arbitrary position. The previous vision-based system brings error when the optical axis of a camera has an angle with the measured structure, which limits the applicability at large structures. The developed system measures displacement by processing the images of a target plate that is attached on the measured position of a structure. To measure displacement regardless of the angle between the optical axis of the camera and the target plate, planar homography is employed to match two planes in image and world coordinate systems. To validate the performance of the present system, a laboratory test is carried out using a small 2-story shear building model. The result shows that the present system measures accurate displacement of the structure even with a camera significantly angled with the target plate.

• Bulletin of the Society of Naval Architects of Korea
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• v.26 no.2
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• pp.32-40
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• 1989

Dynamic ship positioning(DP) system is used to keep the position and heading of a ship, or a floating platform, above a pre-selected site on the seabed by using thrusters. This paper presents a control system based on filtering technique and optimal control theory. The planar motions of a vessel are assumed to consist of low frequency(LF) component and high frequency(HF) one. The former is mainly due to thrusters, current, wind and second order wave forces, while the latter is mainly due to first order oscillatory component of the wave force. Furthermore position measurement signals include the noise. By means of self-tuning filter and Kalman filter techniques, LF motion estimates and HF ones are seperately achieved from the position measurements of the vessel. The estimated LF motions are used as input to the feedback loops. The total thruster power is minimized using the Linear Quadratic Gaussian control theory. The performance of the vessel with the DP system is investigated by computer simulation.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.141-148
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• 2003

This paper presents a rotating ann test for assessment of an underwater hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. The rotating ann tests are conducted in the Ocean Engineering Basin of KRISO, KORDI to generate circular motion in laboratory, where the USBL system was absent in the basin. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.3
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• pp.688-694
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• 1998

The ability to locate the defects in materials is one of the major attrations of the acoustic emission(AE) technique. The most conventional method for planar AE source localization is to place three or more AE sensors on the plate and to determine the source position by measuring the differences in the arrival times of the AE wave at the sensors, which is called as triangulation method. But this method can not be applied in the material of which elastic wave propagtion velocity is not known. In this paper, we propose two methods, vector method and error minimization method, for AE source location on the material with unknown AE wave velocity. In this method, it is not needed to know the propagation velocity previously, that is, we can apply this method to arbitrary material of which properties are not known exactly. Also, in this paper, the robustness to the error in the measurement of time differences are discussed for both methods. Finally, in order to evaluate the actual performances, experiments using a pencil lead break as the AE source were carried out on the aluminum plate.

• Journal of Ocean Engineering and Technology
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• v.17 no.4
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• pp.73-80
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• 2003

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit(IMU), an ultra-short baseline(USBL) acoustic navigation sensor and a doppler velocity log(DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• Investigative Magnetic Resonance Imaging
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• v.4 no.2
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• pp.100-106
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• 2000

Purpose : To evaluate the usefulness of cerebral blood flow measurement applied to perfusion weighted image with short-scan time single shot gradient echo-planar technique in measuring cerebral blood volume(rCBV) of normal rabbits. Materials and methods : With 2.1-3.6 kg weighted rabbits, image is acquired when they are in supine position in children positioner. Perfusion weighted image is acquired to 44 seconds per 1 second successively. After 4 seconds later, Gd-DTPA 2ml are injected into int. jugular vein with 2 ml per second and normal saline is also injected after that. Same technique is applied 2 times per 30 minites in same rabbit. After Image is obtained in two part of cerebral cortex at vertex, convexity, in one of basal ganglia with choosing about $3-5{\textrm{mm}^2}$ areas. Curve of signal intensity changes in time sequence is drawn. After this images are transmitted by PC and software IDL, regional cerebral blood volume is measured with imaging processing program made by us. Results : With 22 of 24 rabbits, satisfactory 1-2 signal intensity versus time curve is made. Cerebral blood capacity and contrast media stay time (ST) is measured in two cerebral cortex and basal ganglia refering in parietal cerebral cortex. Mean focal cerebral blood flow capacity ratio in cortex was $0.97{\pm}0.35$ and in basal ganglia, $0.99{\pm}0.37$, mean contrast media stay time in cortex was $9.83{\pm}1.63$ sec and in basal gaiglia, $9.42{\pm}1.14$ sec, but there was no statistically significant difference between two areas ($\rho$=0.05). Conclusion : In cerebral cortex and basal ganglia, there is no difference in mean focal blood volume and mean contrast stay time. Therefore, PWI is useful in cerebral blood flow and early diagnosis, prognosis of cerebral ischemic disease. Hereafter, it is helpful in analysing cerebral blood flow changes with comparison difference in rCBV between normal tissue and ischemic tissue, and that with DWI finding in infarcted patient.