• 로봇학회논문지
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• 제18권3호
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• pp.281-284
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• 2023

Real-time control communication network system is important for developing defense robots because it affects environmental interaction, performance, and safety. We propose a real-time control communication network using the Xenomai real-time operating system and the open-source EtherCAT master library, SOEM. EtherCAT is an Ethernet-based industrial communication method. It has low latency and many functions such as cable redundancy and distributed clock synchronization. We use Xenomai RTOS and Intel NUC to develop the system. Experimental tests demonstrate the Real-time EtherCAT master implementation, and communication with CiA301-based slave devices. The jitter measurement was conducted to validate the real-time performance of the system. The proposed system shows possibility for real-time robotics applications in various defense robots.

• Journal of Magnetics
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• 제22권2호
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• pp.315-325
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• 2017

Magnetically suspended sensitive gyroscopes (MSSGs) provide an interesting alternative for achieving precious attitude angular measurement. To effectively reduce the measurement error caused by the non-uniformity of the air-gap flux density in a MSSG, this paper proposes a novel compensation method based on measuring and modeling of the air-gap flux density. The angular velocity measurement principle and the structure of the MSSG are described, and then the characteristic of the air-gap flux density has been analyzed in detail. Next, to compensate the flux density distribution error and improve the measurement accuracy of the MSSG, a real-time compensation method based on the online measurement with hall probes is designed. The common issues caused by the non-uniformity of the air-gap flux density can be effectively resolved by the proposed method in high-precision magnetically suspended configurations. Comparative simulation results before and after compensation have verified the effectiveness and superiority of the proposed compensation method.

• 대한임베디드공학회논문지
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• 제17권6호
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• pp.355-365
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• 2022

This paper addresses the problem of real-time tracking a high-speed ballistic target. Particle filters can be considered to overcome the nonlinearity in motion and measurement models in the ballistic target. However, it is difficult to apply particle filters to real-time systems because particle filters generally require much computation time. This paper proposes an accelerated particle filter using graphics processing unit (GPU) for real-time ballistic target tracking. The real-time performance of the proposed method was tested and analyzed on a widely-used embedded system. The comparison results with the conventional particle filter on CPU (central processing unit) showed that the proposed method improved the real-time performance by reducing computation time significantly.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.249-254
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• 2008

The objective of this study is the developement of real time automatic incline measurement using high accuracy digital datalogger for safety and maintence of railway construction sites. For the replacement of current 16 bit analog/digital converter, Digital datalogger system using 24 bit analog/digital converter is studied for the first time with in a country. Therefore data communication method and analyzing program of automatic measurement data is developed for the automatic high accuracy digital datalogge system. The results of this study will be using real time automatic incline measurement of railway structures.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.1006-1011
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• 2008

The objective of this study is the developement of real time automatic dynamic measurement using high accuracy digital datalogger for safety and maintence of railway construction sites. For the replacement of current 16 bit analog/digital converter, Digital datalogger system using 24 bit analog/digital converter is studied for the first time with in a country. Therefore data communication method and analyzing program of automatic measurement data is developed for the automatic high accuracy digital datalogger system. The results of this study will be using real time automatic dynamic measurement of railway structures.

• 문화기술의 융합
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• 제9권1호
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• pp.691-695
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• 2023

현재 자동화계측 시스템의 계측 결과 활용도는 매우 낮고 단편적인 측정결과 만을 제공하는 수준이다. 본 연구에서는 실시간으로 측정된 방대한 데이터값을 클라우드로 전송하여 빅데이터를 구축하고 파이썬 기반의 알고리즘을 이용하여 획득한 자동화계측 데이터를 고정밀-신뢰도를 갖는 구조물 거동 분석 3D Display 시스템을 연구하고자 한다. 연구결과, 실시간으로 관리자에게 구조물의 거동을 평가할 수 있는 시스템으로서 계측 데이터의 종류 및 센서의 종류와 무관하게 큰 제약 없이 실시간으로 분석데이터를 제공하고 3D Display로 도출하였다. 또한 관리자가 구조물의 거동 그래프를 실시간으로 파악하고 데이터 분석을 통해 구조물의 취약부 도출을 보다 쉽게 파악할 수 있을 것으로 분석되었다. 향후 과거와 현재 데이터를 이용하여 구조물의 거동을 3차원으로 분석함으로써 현실성 있는 구조물의 보수, 보강 및 유지 관리 측면에서 보다 실효성 있는 측정 결과를 확보할 수 있을 것으로 분석되었다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 춘계학술대회 논문집
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• pp.470-475
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• 2011

The objective of this study is the developement health & disaster monitoring measurement using ubiquitous active communication digital datalogger system for monitoring measurement of railway construction sites. For the replacement of current passive data communication, ubiquitous active communication digital datalogger system is studied for the first time with in a country. Therefore data communication method and analyzing program of automatic measurement data is developed for the global positioning automatic digital datalogger system. The results of this study will be using both real time automatic monitoring measurement and health & disaster monitoring measurement of railway structures.

• 한국전기전자재료학회논문지
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• 제26권9호
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• pp.669-676
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• 2013

In this study, we introduce a polymer(polyimide) based pressure sensor to measure real-time heart beat and blood pressure. The sensor have been designed with consideration of skin compatibility of material, cost effectiveness, manufacturability and wireless detection. The designed sensor was composed of inductor coils and an air-gap capacitor which generate self-resonant frequency when electrical source is applied on the system. The sensor was obtained with metalization, etching, photolithography, polymer adhesive bonding and laser cutting. The fabricated sensor was shaped in circular type with 10mm diameter and 0.45 mm thickness to fit radial artery. Resonant frequencies of the fabricated sensors were in the range of 91~96 MHz on 760 mmHg pressurized environment. Also the sensor has good linearity without any pressure-frequency hysteresis. Sensitivity of the sensor was 145.5 kHz/mmHg and accuracy was less than 2 mmHg. Real-time heart beat measurement was executed with a developed hand-held measurement system. Possibility of real-time blood pressure measurement was showed with simulated artery system. After installation of the sensor on skin above radial artery, simple real blood pressure measurement was performed with 64 mmHg blood pressure variation.

• 한국항공우주학회지
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• 제50권4호
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• pp.269-275
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• 2022

펄스간 시간측정방법은 이상적인 조건에서는 정확한 반작용휠 속도를 측정할 수 있지만, 실제로는 타코펄스 불균일성 때문에 측정속도 오차가 존재한다. 본 연구에서는 불균일성을 극복하는 방법을 살펴본다. 우선 휠을 특정한 속도로 회전시켜서 타코펄스 불균일성을 측정하는 방법을 소개한다. 이렇게 획득된 불균일성 정보를 이용하여 실시간으로 측정오차를 보정하는 방법을 제안한다. 해당 방법은 펄스간 시간 측정방법의 카운트와 사전 측정된 불균일 정보로부터 속도 후보군을 계산하고, 이중에서 실제속도와 가장 가까운 값을 선택한다. 시뮬레이션을 통해서 제안된 방법이 타코펄스 불균일성을 극복하고 정확한 속도를 측정하며 빠른 휠속도 제어도 가능함을 보인다.

• 한국콘텐츠학회논문지
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• 제20권10호
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• pp.14-24
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• 2020

실시간 성능이란 정확한 주기에 정확한 결과값을 반환하거나, 일정 주기마다 정해진 일을 수행하는 것이다. 윈도우는 실시간 성능을 지원하지 못하므로 RTX나 INtime과 같은 고가의 서드파티를 사용하여 실시간 성능을 지원한다. 본 논문은 윈도우에 디바이스 드라이버 형태로 동작하는 실시간 커널인 RTiK을 통해 윈도우에 실시간 성능을 지원하고자 한다. 윈도우 7에서 RTiK은 x86 하드웨어에서 지원하는 Local APIC를 이용한 타이머를 사용하였다. 하지만 윈도우 10에서 KPP(Kernel Patch Protection)으로 인해 Local APIC 타이머를 사용하는 것이 불가능해졌다. 이에 Local APIC IPI를 사용하여 정해진 주기를 알리는 타이머를 구현하였고 성능 측정을 수행하여 주기가 오차범위 내에서 정상 동작함을 확인하였다. 이를 통해 윈도우 10에서 실시간 성능 제공을 가능하게 하였다.