• Journal of Audiology & Otology
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• 제24권2호
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• pp.107-111
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• 2020

The present study aimed to determine the test-retest reliability of subjective visual horizontal (SVH) testing when tested with solid and dotted line images. In this repeated measures study, 36 healthy young Malaysian adults (mean age=23.3±2.3 years, 17 males and 19 females) were enrolled. All of them were healthy and had no hearing, vestibular, balance, or vision problems. The SVH angles were recorded from each participant in an upright body position using a computerized device. They were asked to report their horizontality perception for solid and dotted line images (in the presence of a static black background). After 1 week, the SVH procedure was repeated. The test-retest reliability of SVH was found to be good for both solid line [intraclass correlation (ICC)=0.80] and dotted line (ICC=0.78). As revealed by Bland-Altman plots, for each visual image, the agreements of SVH between the two sessions were within the clinically accepted criteria (±2°). The SVH testing was found to be temporally reliable, which can be clinically beneficial. Both solid and dotted lines in the SVH testing are reliable to be used among young adults.

• 대한청각학회지
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• 제24권2호
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• pp.107-111
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• 2020

The present study aimed to determine the test-retest reliability of subjective visual horizontal (SVH) testing when tested with solid and dotted line images. In this repeated measures study, 36 healthy young Malaysian adults (mean age=23.3±2.3 years, 17 males and 19 females) were enrolled. All of them were healthy and had no hearing, vestibular, balance, or vision problems. The SVH angles were recorded from each participant in an upright body position using a computerized device. They were asked to report their horizontality perception for solid and dotted line images (in the presence of a static black background). After 1 week, the SVH procedure was repeated. The test-retest reliability of SVH was found to be good for both solid line [intraclass correlation (ICC)=0.80] and dotted line (ICC=0.78). As revealed by Bland-Altman plots, for each visual image, the agreements of SVH between the two sessions were within the clinically accepted criteria (±2°). The SVH testing was found to be temporally reliable, which can be clinically beneficial. Both solid and dotted lines in the SVH testing are reliable to be used among young adults.

• 대한통합의학회지
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• 제8권3호
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• pp.173-180
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• 2020

Purpose : The aim of this study was to assess the intra- and inter-rater reliability and validity of measurements of head, neck, and pelvis posture using a mobile application in subjects with forward head posture. Methods : Forty-eight volunteers (22 men, 26 women) participated in this study. Two raters independently examined whole body picture images in a lateral standing posture with arms crossed using a CA-Smart Posture Reminder (CA-SPR), and a rater took and calculated posture images twice to assess reliability. We measured five parameters: craniovertebral angle 1 (CVA1), anterior shoulder translation (AST), pelvic tilt (PT), knee angle (KA), and ankle angle (AA) in the subject's sagittal plane using CA-SPR. We examined whole spine X-ray images in the same position to assess validity. We measured four variables in the subjects: CVA2, translation distance (AHT), anterior pelvic plane (APP), and sacral slope (SS). The intra- and inter-rater reliability were calculated using the intraclass correlation coefficient (ICC). Convergent validity was calculated using Pearson's correlation coefficient. Results : The intra-rater reliability (ICC=.889 -.989) and inter-rater reliability (ICC=.800 -.980) were excellent for all variables measured using CA-SPR. The variables measured using CA-SPR and X-ray were significantly positively correlated (r=.623, p<.01). However, the correlation of the variables in the pelvis was not statistically significant. Conclusion : This study shows that a mobile application (CA-SPR) is a useful tool for measuring head and neck posture in subjects with forward head posture. However, further study is needed to measure pelvic variables when using a mobile application.

• 한국항공우주학회지
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• 제34권5호
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• pp.74-80
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• 2006

1980년대부터 민간에 개방된 GPS는 C/A코드의 도달시간을 측정하여 위치를 계산하고, 반송파의 도플러 주파수를 측정하여 속도를 계산한다. 위치정확도를 향상시키기 위하여 공통오차를 제거하는 DGPS 기법과 반송파 위상을 이용하여 수cm 내의 정확도를 가질 수 있는 CDGPS 기법이 1990년대부터 개발되기 시작하였다. 본 논문에서는 CDGPS를 위해 LSAST 미지정수 추정기법을 개선하여 계산효율 및 신뢰도를 높이고, 단일 주파수 GPS 수신기를 이용하여 움직이는 항체의 상대위치를 수cm 내의 정확도로 측정한 실험결과를 INS의 위치와 비교하여 제시한다. 이러한 결과는 추후 정밀관성항법장치, 무인자율주행, 측지 및 정밀지도제작 등에 유용하게 쓰일 수 있다.

• 전력전자학회논문지
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• 제8권2호
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• pp.107-115
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• 2003

PMSM은 높은 토크 특성과 우수한 전력 밀도, 논은 효율 때문에 산업용 빛 가정용 기기로 널리 사용되고 있다. PMSM의 우수한 제어 수행을 위해서는 회전자 위치의 정확한 정보가 필요하다. 그러나 위치 센서의 가격이 비싸고, 열악한 환경에서 신뢰도가 떨어지기 때문에 최근에는 센서리스 알고리즘에 대한 연구가 많이 진행되고 있다. 본 논문에서는 회전자 위치의 추정을 위해 쇄교 자속의 도함수를 이용한다. 수치적 미분을 행하지 않고 전압 방정식과 측정된 상전류를 이용한 수식적 미분을 통해 쇄교 자속을 구하는 a-$\beta$ 변환과 수식적 미분을 이용한 새로운 센서리스 알고리즘을 제안한다. 제안된 센서리스 속도 제어 알고리즘이 실험을 통해 증명된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.250-255
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• 2005

For navigation of a service robot, mapping and localization are very important. To estimate the robot pose, the map of the environment is required and it can be built by exploration or SLAM. Exploration is the fundamental task of guiding a robot autonomously during mapping such that it covers the entire environment with its sensors. In this paper, an efficient exploration scheme based on the position probability of the end nodes of a topological map is proposed. In this scheme, a topological map is constructed in real time using the thinning-based approach. The robot then updates the position probability of each end node maintaining its position at the current location based on the Bayesian update rule using the range data. From this probability, the robot can determine whether or not it needs to visit the specific end node to examine the environment around this node. Various experiments show that the proposed exploration scheme can perform exploration more efficiently than other schemes in that, in most cases, exploration for the entire environment can be completed without directly visiting everywhere in the environment.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1139-1145
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• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제14권4호
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• pp.288-294
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• 2014

Understanding a ship's present position has been one of the most important tasks during a ship's voyage, in both ancient and modern times. Particularly, a ship's dead reckoning (DR) has been used for predicting traffic situations and collision avoidance actions. However, the current system that uses the traditional method of calculating DR employs the received position and speed data only. Therefore, it is not applicable for predicting navigation within the harbor limits, owing to the frequent changes in the ship's course and speed in this region. In this study, planned routes were applied for improving the reliability of the proposed system and predicting the traffic patterns in advance. The proposed method of determining the dead reckoning position (DRP) uses not only the ships' received data but also the navigational patterns and tracking data in harbor limits. The Mercator sailing formulas were used for calculating the ships' DRPs and planned routes. The data on the traffic patterns were collected from the automatic identification system and analyzed using MATLAB. Two randomly chosen ships were analyzed for simulating their tracks and comparing the DR method during the timeframes of the ships' movement. The proposed method of calculating DR, combined with the information on planned routes and DRPs, is expected to contribute towards improving the decision-making abilities of operators.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.496-500
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• 1998

Not merely running at the designated constant speed as the classical cruise control, the adaptive cruise control (ACC) maintains safe headway distance when the front is blocked by other vehicles. One of the most essential part of ACC System is the range sensor which can measure the position and speed of all objects in front continuously, ignore all irrelevant objects, distinguish vehicles in different lanes and lock on to the closest vehicle in the same lane. In this paper, the hierarchical object recognition algorithm (HORA) is proposed to process raw scanning laser data and acquire valid distance to target vehicle. HORA contains two principal concepts. First, the concept of life quantifies the reliability of range data to filter off the spurious detection and preserve the missing target position. Second, the concept of conformation checks the mobility of each obstacle and tracks the position shift. To estimate and predict the vehicle position Kalman filter is used. Repeatedly updated covariance matrix determines the bound of valid data. The algorithm is emulated on computer and tested on-line with our ACC vehicle.

• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1046-1052
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• 2016

For the safe driving of autonomous vehicles, accurate position estimation is required. Generally, position error must be less than 1m because of lane keeping. However, GPS positioning error is more than 1m. Therefore, we must correct this error and a map matching algorithm is generally used. Especially, road marking intensity map have been used in many studies. In previous work, 3D LIDAR with many vertical layers was used to generate a local intensity map. Because it can be obtained sufficient longitudinal information for map matching. However, it is expensive and sufficient road marking information cannot be obtained in rush hour situations. In this paper, we propose a localization algorithm using an accumulated intensity local map. An accumulated intensity local map can be generated with sufficient longitudinal information using 3D LIDAR with a few vertical layers. Using this algorithm, we can also obtain sufficient intensity information in rush hour situations. Thus, it is possible to increase the reliability of the map matching and get accurate position estimation result. In the experimental result, the lateral RMS position error is about 0.12m and the longitudinal RMS error is about 0.19m.