• Journal of Power System Engineering
• /
• v.15 no.1
• /
• pp.72-77
• /
• 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). This paper introduces a new guide line position measurement method using a camera for the RTGC which plays a important role in the harbor area. 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 trajectory to follow is obtained, the position of RTGC is 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 guideline. This system consists of a 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 camera, and these positions are determined in a Hough parameter space by using the Hough transformation method. From the experimental results, high accurate standard deviations were found as 0.98 pixel of the displacement and 0.24 degree of the angle, including robustness against lighting fluctuation and cracks of the guide line also.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.7
• /
• pp.688-693
• /
• 2007

The INS/GPS integration system is designed by employing an adaptive filter that can estimate the measurement noise variance using the residual of the filter. To verify the efficiency of the proposed loosely-coupled INS/GPS integration system, simulation is performed by assuming that GPS information has large position errors. Simulation results show that the proposed integration system with the adaptive filter is more effective in estimating the position and attitude errors than those with the Extended Kalman Filter.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.63-63
• /
• 2000

This paper is about the method to improve the IDGPS system using receiver which is not aligned to GPS time. Transmitted data between server and user is constructed in PDDM of IS-801 rule. Pseudorange is overflowed in case of using receiver unaligned GPS time. And satellite position is miscalculated because earth rotating effect is not corrected. To solve this problem, when Pseudorange measurement is over the maximum range, the Pseudorange measurement is reset. And after the rough user position and transmit time is calculated, the precise Pseudorange measurement is calculated.

• Physical Therapy Korea
• /
• v.16 no.3
• /
• pp.1-8
• /
• 2009

It is important to find the effective position for cough and sputum clearance in respiratory physical therapy. The purpose of this study was to compare the changes in peak expiratory flow (PEF), forced expiratory volume in 1 second ($FEV_1$), and peak cough flow (PCF) related to functional level and measurement position in patients with Duchenne muscular dystrophy. Twenty one subjects were classified into three functional levels, and measurements was undertaken in three different measurement positions (upright sitting, $45^{\circ}$ reclining and supine). Vitalograph PEF/FEV DIARY was used to measure PEF and $FEV_1$, and Ferraris Pocket Peak was used to measure PCF. Mixed two-way analysis of variance and Bonferroni post-hoc test were used for statistical analysis. The results of the study were as follows: 1) Significant main effects for measurement position were found. 2) PEF was the highest in upright sitting, followed by $45^{\circ}$ reclining, and supine in order. 3) $FEV_1$ in upright sitting and $45^{\circ}$ reclining were significantly greater compared with that in supine. 4) PCF in upright sitting and $45^{\circ}$ reclining were significantly greater compared with that in supine. 5) No significant main effects for functional level were found in PEF, $FEV_1$, and PCF. 6) No significant functional level by measurement position interactions were found in PEF, $FEV_1$, and PCF. Therefore, it is concluded that upright sitting and $45^{\circ}$ degree reclining positions are recommended for effective cough and sputum clearance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.05a
• /
• pp.964-968
• /
• 2007

The measurement of floor impact sound have been standardized in KS 2810-1 and 2. The height of receiving microphones position is specified in the standard as 1.2m which is almost half height of apartment rooms as a listening position. In this study, receiving positions are investigated by measuring the distribution of sound pressure levels at 792 receiving microphone positions in the standard testing building. Standard impact sources, tapping machine and impact ball, are driven on the center position in the source room where is located at the above floor. It was found that the distribution of sound pressure levels in the receiving room indicates significant deviation at different frequencies there is more than 5dB drop at 63Hz but 2dB rise at 125Hz at a height of 1.2m when the impact ball is driven, in the other case of a generating tapping machine there is more than 2dB rise at 125Hz at a height of 1.2m due to room modes.

• Journal of Practical Engineering Education
• /
• v.10 no.2
• /
• pp.119-124
• /
• 2018

Educational equipment that enables the user or device to recognize the indoor position by using the acceleration and angular velocity of the IMU (Inertial Measurement Unit) sensor is introduced. With this educational equipment, various position recognition and tracking algorithms can be learned and creative engineering design works can be realized. The data value of the IMU sensor is transmitted to the MCU (microcontroller unit) through $I^2C$ (Inter-Integrated Circuit), and the indoor position recognition algorithm is applied by processing the data value through the filter and numerical method. It is then designed to use wireless communication to send and receive processed values and to be recognized by the user. As an example using this equipament, the case of "Implementation and recognition of virtual position using computation of moving direction and distance using IMU sensor" is introduced, and various creative engineering design application is discussed.

• Journal of Ocean Engineering and Technology
• /
• v.12 no.2 s.28
• /
• pp.121-129
• /
• 1998

A quantitative non-contact multi-point measurement system is proposed to the measurement of three-dimensional movement of floating vessels by using digital image processing. The instantaneous three-dimensional movement of a floating structure which is floating in a small water tank is measured by this system and its three-dimensional movement is reconstructed by the measurement results. The validity of this system is verified by position identification for spatially distributed known positional values of basic landmarks set for the camera calibration. It is expected that this system is applicable to the non-contact measurement for an unsteady physical phenomenon especially for the measurement of three-dimensional movement of floating vessels in the laboratory model test.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.6
• /
• pp.619-625
• /
• 1997

In this paper, we show that the rotor position of the bifilar-wound hybrid stepping motors for the closed-loop drives is detected by the phase current measurement. We propose an instantaneous phase current equation, which is the function of electrical angle, by modeling the stepping motor including motor driving circuits. We also analyze the relationship between phase current and rotor position from the computer simulation results. We show that the information about the rotor position is obtained from the phase current amplitude and its derivatives at the instance of ${\pi}/2$ electrical angle of excitation voltage.

• Journal of Drive and Control
• /
• v.17 no.4
• /
• pp.8-14
• /
• 2020

Intelligent devices using ICT technology have been introduced in the field of construction machinery to improve productivity and stability. Among the intelligent devices, Machine Guidance is a device that provides real-time posture, location, and work range to drivers by installing various sensors, controllers, and satellite navigation systems on construction machines. Conversely, the efficiency of equipment that requires location information, such as machine guidance, will be greatly reduced in buildings, and tunnels in the GPS blind spots. Thus, the other high-precision positioning technologies are required in the GPS blind spot zone. In this study, we will develop a relative position measurement system that provides precise location information such as construction machinery and robots in a local area where the GPS reception is difficult. A relative position measurement system tracks a marker in the form of a sphere installed on a vehicle by using the image base tracking technology, and measures the distance and direction information to the marker to calculate a position.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1994-1998
• /
• 2005

Characteristic analysis of the depth measurement system with a laser, a camera and a rotating mirror has been done and the parameter calibration technique for it has been proposed. In the proposed depth measurement system, the laser beam is reflected to the object by the rotating mirror and again the position of the laser beam is observed through the same mirror by the camera. The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD. There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance. The calibration techniques to minimize the effect of such major parameters are proposed.