• Journal of IKEEE
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• v.24 no.4
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• pp.954-960
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• 2020

This paper proposes a speed variable proportional resonant current control method for a single-phase permanent magnet synchronous motor(PMSM). Due to the electromagnetic characteristics of a single-phase PMSM, negative and zero torques are generated in the part corresponding to the phase difference between the stator current and the back electromotive force. In addition, overcurrent limitation is required because of the low stator resistance and inductance in sensorless operation. When using the vector control for current control of single-phase PMSM under these conditions, processes of coordinate transformation, inverse coordinate transformation, and generation of virtual dq-axis components are required. However, the proposed variable speed proportional resonant current control method does not need the coordinate transformation used for AC motors. In this paper, we have confirmed stable maneuverability by using variable proportional resonant current control algorithm, and proposed sensorless control based on a mathematical model of a single-phase PMSM without a position sensor when reaching a constant speed. The usefulness of the current control method was verified through several experiments.

• Physical Therapy Korea
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• v.28 no.3
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• pp.208-214
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• 2021

Background: The CKCUES test evaluates the functional performance of the shoulder joint. The CKCUES test scores CKC exercises of the upper limbs to examine shoulder stability. Although the CKCUES test provides quantitative data on functional ability and performance, no study has determined the relationship between CKCUES scores and SA and TB muscle strength. Objects: The objective of this study is to determine the relationship between the CKCUES test scores and the strength of the SA and TB muscles in the CKCUES and unilateral CKCUES tests. Methods: Sixty-six healthy male volunteers participated in the study. A Smart KEMA strength sensor measured SA and TB muscle strength. Two parallel lines on the floor indicated the initial hand placement to start CKCUES tests. For 15 seconds, the subject raises one hand and reaches over to touch the supporting hand, then returns to the starting position. Results: The correlation between the CKCUES test scores and the strength of the SA was strong (r = 0.650, p < 0.001), and the TB was moderate (r = 0.438, p < 0.001). The correlation between the unilateral CKCUES test and the strength of the SA of the supporting side was strong (r = 0.605, p < 0.001), and swing side was strong (r = 0.681, p < 0.001). The correlation between the unilateral CKCUES test and the strength of the TB of the supporting side was moderate (r = 0.409, p < 0.001), and swing side was moderate (r = 0.482, p < 0.001). Conclusion: Our study showed that the CKCUES test had a strong association with isometric strength of SA and moderate association with that of TB. These findings suggest that the CKCUES test can evaluate the function of the SA. Moreover, the unilateral CKCUES test can evaluate unilateral shoulder function.

• Journal of Drive and Control
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• v.19 no.4
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• pp.19-28
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• 2022

This paper introduces an automatic steering system for straight traveling capable of being mounted on drivable agricultural machinery which user can handle it such as a tractor, a transplant, etc. The modular automatic steering device proposed in the paper is composed of RTK GNSS, IMU, HMI, hydraulic valve, and wheel sensor. The path generation method of the automatic steering system is obtained from two location information(latitude and longitude on each point) measured by GNSS in advance. From HMI, a straight path(AB line) can be created by connecting latitude and longitude on each point and the device makes the machine able to follow the path. During traveling along the reference path, it acquires the real time position data every sample time(0.1s), compares the reference with them and calculates the lateral deviation. The values of deviation are used to control the steering angle of the machine using hydraulic valve mounted on the axle of front wheel. In this paper, Pure Pursuit algorithm is applied used in autonomous vehicles frequently. For the analysis of traveling characteristics, field tests were executed about these conditions: velocity of 2, 3, 4km/h which is applied to general agricultural work and ground surface of solid(asphalt) and weak condition(soil) such as farmland. In the case of weak ground state, two experiments were executed about no-load(without work) and load(with work such as plowing). The maximum average deviations were presented 2.44cm, 7.32cm, and 11.34cm during traveling on three ground conditions : asphalt, soil without load and with load(plowing).

• The Journal of the Korea Contents Association
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• v.22 no.3
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• pp.54-61
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• 2022

Ship is a huge system including a variety of pipe arrangements. Pipes are installed according to the design layout, however the end poistion of pipes are not well matched owing to its measurement and construction errors. In this situation, the customized pipe fitting is frequently designed to connect with both pipes, the position of which are manually measured. This paper focused that these two coordinates are measured by point cloud from RGBD sensor and the relative transformation induced by positional and orientational differences is calculated by inverse kinematics in robotics theory. Therefore, the result applies for the methodology of the pipe connection design. The pipe coordinate that is estimated by the matching and the probabilistic RANSAC method will be verified by experiments. The kinematic design parameters are computationally calculated by using the minimum degree of freedom that connects both pipe coordinates.

• Physical Therapy Korea
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• v.30 no.1
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• pp.15-22
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• 2023

Background: Delivery workers repeatedly get in and out of trucks and walk or run to deliver packages during work. Iliotibial band syndrome (ITBS) is a well-known non-traumatic overuse injury of the lateral side of the knee caused by frequent knee flexion and extension. Hip muscle strength is among the factors that prevent lower extremity injuries. Although many studies have examined the relationship between ITBS and hip muscle strengths, there was no study comparing hip muscle strength and ratio between delivery workers with and without ITBS. Objects: This study aimed to compare hip muscle strength and hip internal/external rotator and adductor/abductor strength ratios between delivery workers with and without ITBS. Methods: Fourteen delivery workers with ITBS matched inclusion criteria in the present study among 20 participants. Because total sample size was required 28 subjects by G*power program (ver. 3.1.9.4; University of Trier), 14 delivery workers without ITBS were recruited. Hip muscle strengths were measured in a side-lying position using a Smart KEMA pulling sensor (KOREATECH Co. Ltd.). An independent t-test was used to compare hip muscle strengths and hip internal/external rotator and hip adductor/abductor strength ratios between delivery workers with and without ITBS. Results: The adductor/abductor strength ratio was significantly greater in delivery workers without ITBS than in those with ITBS (p < 0.05). The strengths of the hip abductor, hip adductor, hip internal rotator, hip external rotator, and the ratio of internal/external rotator strengths were not significantly different between the delivery workers with and without ITBS (p > 0.05). Conclusion: This study's findings showed that delivery workers with ITBS had significantly lesser adductor/abductor strength ratio, while the strengths of the hip abductor and adductor muscles did not differ significantly. These results suggest that adductor/abductor strength ratio should be considered when evaluating and treating ITBS in delivery workers.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.3
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• pp.155-164
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• 2023

About 75% of vessel collision accidents are caused by human error, which causes enormous economic loss, environmental pollution, and human casualties, thus research on automatic collision avoidance of vessels is being actively conducted. In addition, vessels must comply with the COLREGs rules stipulated by IMO when performing collision avoidance with other vessels in motion. In this study, the collision risk was calculated by estimating the position and velocity of other vessels through the Probabilistic Data Association Filter (PDAF) algorithm based on RADAR sensor data. When a collision risk is detected, we propose an event-triggered Nonlinear Model Predict Control (NMPC) algorithm that geometrically creates waypoints that satisfy COLREGs and follows them. To verify the proposed algorithm, simulations through MATLAB are performed.

• Journal of the Korea institute for structural maintenance and inspection
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• v.27 no.2
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• pp.58-66
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• 2023

In this study, cable tension was measured using the vibration method, and a vision-based system was applied as a sensor to measure the displacement response of a cable in a non-contact method. In the vision-based system, the camera is installed in a location that considers the target structure and the field of view of the camera. However, it can be difficult to recognize the control points required to measure the displacement response of a structure as the target structure and other structures such as vehicles may be included in the image at the intended installation location. In this study, a distorted image including a vehicle shows inaccurate results in image analysis due to the installation position of the vision-based system. Accordingly, the image including the vehicle was eliminated by calculating the similarity between the two images. To verify the validity of the method of estimating the cable tension of cable-stayed bridges using the proposed method, the vibration method was applied to cable-stayed bridges in service to measure the tension.

• Korean Journal of Remote Sensing
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• v.37 no.5_1
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• pp.1135-1147
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• 2021

In order to geometrically correct high-resolution satellite imagery, the sensor modeling process that restores the geometric relationship between the satellite sensor and the ground surface at the image acquisition time is required. In general, high-resolution satellites provide RPC (Rational Polynomial Coefficient) information, but the vendor-provided RPC includes geometric distortion caused by the position and orientation of the satellite sensor. GCP (Ground Control Point) is generally used to correct the RPC errors. The representative method of acquiring GCP is field survey to obtain accurate ground coordinates. However, it is difficult to find the GCP in the satellite image due to the quality of the image, land cover change, relief displacement, etc. By using image maps acquired from various sensors as reference data, it is possible to automate the collection of GCP through the image matching algorithm. In this study, the RPC of KOMPSAT-3A satellite image was corrected through the extracted matching point using the UAV (Unmanned Aerial Vehichle) imagery. We propose a pre-porocessing method for the extraction of matching points between the UAV imagery and KOMPSAT-3A satellite image. To this end, the characteristics of matching points extracted by independently applying the SURF (Speeded-Up Robust Features) and the phase correlation, which are representative feature-based matching method and area-based matching method, respectively, were compared. The RPC adjustment parameters were calculated using the matching points extracted through each algorithm. In order to verify the performance and usability of the proposed method, it was compared with the GCP-based RPC correction result. The GCP-based method showed an improvement of correction accuracy by 2.14 pixels for the sample and 5.43 pixelsfor the line compared to the vendor-provided RPC. In the proposed method using SURF and phase correlation methods, the accuracy of sample was improved by 0.83 pixels and 1.49 pixels, and that of line wasimproved by 4.81 pixels and 5.19 pixels, respectively, compared to the vendor-provided RPC. Through the experimental results, the proposed method using the UAV imagery presented the possibility as an alternative to the GCP-based method for the RPC correction.

• Korean Journal of Remote Sensing
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• v.37 no.2
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• pp.245-256
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• 2021

This study was conducted to identify the applicability of a LiDAR sensor to forest resources inventories by comparing data on a tree's position, height, and DBH obtained by the sensor with those by existing forest inventory methods, for the tree species of Criptomeria japonica in Jeolmul forest in Jeju, South Korea. To this end, a backpack personal LiDAR (Greenvalley International, Model D50) was employed. To facilitate the process of the data collection, patterns of collecting the data by the sensor were divided into seven ones, considering the density of sample plots and the work efficiency. Then, the accuracy of estimating the variables of each tree was assessed. The amount of time spent on acquiring and processing the data by each method was compared to evaluate the efficiency. The findings showed that the rate of detecting standing trees by the LiDAR was 100%. Also, the high statistical accuracy was observed in both Pattern 5 (DBH: RMSE 1.07 cm, Bias -0.79 cm, Height: RMSE 0.95 m, Bias -3.2 m), and Pattern 7 (DBH: RMSE 1.18 cm, Bias -0.82 cm, Height: RMSE 1.13 m, Bias -2.62 m), compared to the results drawn in the typical inventory manner. Concerning the time issue, 115 to 135 minutes per 1ha were taken to process the data by utilizing the LiDAR, while 375 to 1,115 spent in the existing way, proving the higher efficiency of the device. It can thus be concluded that using a backpack personal LiDAR helps increase efficiency in conducting a forest resources inventory in an planted coniferous forest with understory vegetation, implying a need for further research in a variety of forests.

• Journal of IKEEE
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• v.15 no.1
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• pp.76-85
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• 2011

In this paper, we analysed RSS characteristics by external factors and presented an efficient algorithm for real-time location tracking and its hardware system. The proposed algorithm enhanced the ranging accuracy using Kalman Filter based on the RSS DB. The location tracking system that consists of the tag, AP(Access Point), a data collector(Data Receiver) with IEEE 802.15.4(ZigBee) network environment, and location tracking application that reveal locations of each tag is implemented for the test environment. The location tracking system presented in this paper is implemented with MSP430 microprocessor manufactured by TI(Texas Instrument), CC2420 RF chipset and the location tracking application. With the results of the experiment, the proposed algorithm and the system can achieve the efficiency and the accuracy of location tracking with the average error of 19.12cm, and its standard deviation of 5.31cm in outdoor circumstance. Also, the experimental result shows that exact tracking of position in indoor circumstance cannot achieve because of vulnerable RSS with external circumstance.