• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.351-360
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• 2022

Autonomous vehicles require precise knowledge of their position, velocity and orientation in all weather and traffic conditions in any time. And, these information is effectively used for path planning, perception, and control that are key factors for safety of vehicle driving. For this purpose, a high precision GNSS technology is widely adopted in autonomous vehicles as a core localization and navigation method. However, due to the lack of infrastructure as well as cost issue regarding GNSS correction data communication, only a few high precision GNSS technology will be available for future commercial autonomous vehicles. Recently, a high precision GNSS sensor that is based on a Broadcast-RTK system to dramatically reduce network maintenance cost by utilizing the existing broadcasting network is released. In this paper, we present the performance test result of the broadcast-RTK-based commercial high precision GNSS receiver to test the feasibility of the system for autonomous driving in Korea. Massive measurement campaigns covering of Korea region were performed, and the obtained measurements were analyzed in terms of ambiguity fixing rate, integer ambiguity loss recovery, time to retry ambiguity fixing, average correction information update rate as well as accuracy in comparison to other high precision systems.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.2
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• pp.137-144
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• 2015

In this paper, we present an inertial sensor-based gait analysis system to measure and analyze lower-limb movements. We developed an integral AHRS(Attitude Heading Reference System) using a combination of rate gyroscope, accelerometer and magnetometer sensor signals. Several AHRS modules mounted on segments of the patient's body provide the quaternions representing the patient segments's orientation in space. And a method is also proposed for calculating three-dimensional inter-segment joint angle which is an important bio-mechanical measure for a variety of applications related to rehabilitation. To evaluate the performance of our AHRS module, the Vicon motion capture system, which offers millimeter resolution of 3D spatial displacements and orientations, is used as a reference. The evaluation resulted in a RMSE(Root Mean Square Error) of 1.08 and 1.72 degree in yaw and pitch angle. In order to evaluate the performance of our the gait analysis system, we compared the joint angle for the hip, knee and ankle with those provided by Vicon system. The result shows that our system will provide an in-depth insight into the effectiveness, appropriate level of care, and feedback of the rehabilitation process by performing real-time limb or gait analysis during the post-stroke recovery.

• Applied Chemistry for Engineering
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• v.24 no.3
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• pp.219-226
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• 2013

Organic semiconductor-based soft electronics has potential advantages for next-generation electronics and displays, which request mobile convenience, flexibility, light-weight, large area, etc. Organic field-effect transistors (OFET) are core elements for soft electronic applications, such as e-paper, e-book, smart card, RFID tag, photovoltaics, portable computer, sensor, memory, etc. An optimal multi-layered structure of organic semiconductor, insulator, and electrodes is required to achieve high-performance OFET. Since most organic semiconductors are self-assembled structures with weak van der Waals forces during film formation, their crystalline structures and orientation are significantly affected by environmental conditions, specifically, substrate properties of surface energy and roughness, changing the corresponding OFET. Organo-compatible insulators and surface treatments can induce the crystal structure and orientation of solution- or vacuum-processable organic semiconductors preferential to the charge-carrier transport in OFET.

• Journal of the Institute of Convergence Signal Processing
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• v.20 no.4
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• pp.245-251
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• 2019

Sonar bearing accuracy is the correspondence between the target orientation predicted by sonar and actual target orientation, and is obtained from measurements. However, when measuring sonar bearing accuracy, many errors are included in the results because they are made at sea, where complex and diverse environmental factors are applied. In particular, parallax error caused by the difference between the position of the GPS receiver and the sonar sensor, and the time delay error generated between the speed of underwater sound waves and the speed of electromagnetic waves in the air have a great influence on the accuracy. Correcting these parallax errors and time delay errors without an automated tool is a laborious task. Therefore, in this study, we propose a sonar bearing accuracy measurement equipment with parallax error and time delay error correction. The tests were carried out through simulation data and real data. As a result of the test it was confirmed that the parallax error and time delay error were systematically corrected so that 51.7% for simulation data and more than 18.5% for real data. The proposed method is expected to improve the efficiency and accuracy of sonar system detection performance verification in the future.

• Journal of Sensor Science and Technology
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• v.6 no.4
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• pp.316-327
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• 1997

Polycrystalline $Sr_{2}Nb_{2}O_{7}$ and $La_{2}Ti_{2}O_{7}$ ceramics with very high Curie temperatures were synthesized by the chemical coprecipitation method (CCP). The powders synthesized were identified by XRD and their sintering behavior and physical properties were studied. The grain-orientation and electrical properties of sintered ceramics were investigated as a function of firing temperature. Single phase could be obtained by CCP method at temperature lower than that of the conventional method by 100 - $150^{\circ}C$. Strontium niobate, $Sr_{2}Nb_{2}O_{7}$, powder was Prepared by CCP method at temperatures as low as $800^{\circ}C$ via intermediate phase of $Sr_{5}Nb_{4}O_{15}$ formed at $700^{\circ}C$. The resulting CCP-derived powder was observed to have finer and more uniform particle size distribution than those obtained through the conventional or the molten salt synthesis method. Sintering of CCP-derived $Sr_{2}Nb_{2}O_{7}$ powder at $1500^{\circ}C$ yielded a highly dense ceramics with 97% theoretical density. Very high grain-orientation developed along the (0k0) direction was observed by SEM, which resulted in anisotropic dielectric properties of the sintered samples, with the dielectric constant values approaching those for single crystal.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.4_1
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• pp.363-371
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• 2014

Most space-borne optical scanning systems adopt linear arrayconfigurations. The well-knownthree different types of space-borne sensors arealong-track line scanner, across-track linescanner, and three line scanner. To acquire accurate location information of an object on the ground withthose sensors, the exterior and interior orientation parameters are critical factors for both of space-borne and airborne missions. Since the imaging geometry of sensors mightchange time to time due to thermal influence, vibration, and wind, it is very important to analyze the Interior Orientation Parameters (IOP) effects on the ground. The experiments based on synthetic datasets arecarried out while the focal length biases are changing. Also, both high and low altitudes of the imagingsensor were applied. In case with the along-track line scanner, the focal length bias caused errors along the scanline direction. In the other case with the across-track one, the focal length bias caused errors alongthe scan line and vertical directions. Lastly, vertical errors were observed in the case ofthree-line scanner. Those results from this study will be able to provide the guideline for developing new linearsensors, so as for improving the accuracy of laboratory or in-flight sensor calibrations.

• KIPS Transactions on Software and Data Engineering
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• v.2 no.10
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• pp.723-730
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• 2013

This paper presents the design of an arm gesture recognition system using Kinect sensor. A variety of methods have been proposed for gesture recognition, ranging from the use of Dynamic Time Warping(DTW) to Hidden Markov Models(HMM). Our system learns a unique HMM corresponding to each arm gesture from a set of sequential skeleton data. Whenever the same gesture is performed, the trajectory of each joint captured by Kinect sensor may much differ from the previous, depending on the length and/or the orientation of the subject's arm. In order to obtain the robust performance independent of these conditions, the proposed system executes the feature transformation, in which the feature vectors of joint positions are transformed into those of angles between joints. To improve the computational efficiency for learning and using HMMs, our system also performs the k-means clustering to get one-dimensional integer sequences as inputs for discrete HMMs from high-dimensional real-number observation vectors. The dimension reduction and discretization can help our system use HMMs efficiently to recognize gestures in real-time environments. Finally, we demonstrate the recognition performance of our system through some experiments using two different datasets.

• Journal of Sensor Science and Technology
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• v.6 no.1
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• pp.56-62
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• 1997

Using a rf-magnetron sputtering method, highly c-axis oriented La modified $PbTiO_{3}$ (PLT) ferroelectric thin films with compositions of $(Pb_{1-x}La_{x})Ti_{1-x/4}O_{3}$, where x=0.05, x=0 and x=0.15, have been obtained on (100)MgO single crystal substrate under conditions of low gas pressure. The degree of c-axis orientation of PLT films decreases with increasing gas pressure and with increasing La contant. These films were characterized by X-ray diffraction and SEM. PLT thin films of x=0.05, 0.1 and 0.15 show a low dielectric constant of 218, 246 and 361 at 1 kHz and remanent polarization(Pr) of $9{\mu}C/cm^{2}$, $8{\mu}C/cm^{2}$ and $7{\mu}C/cm^{2}$.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.1025-1031
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• 2007

GPS is widely used for positioning applications and attitude of a vehicle can be found also with multiple antennas. However, extremely weak signal level prevents GPS from indoor operation. DR with accelerometers and gyros and landmark based localization method used for indoor applications increase complexity and cost. In this paper, a simple but very efficient ultrasound based attitude determination system which determines both position and attitude in WSN is given. The range between transmitter and receivers are measured using the arrival time difference between ultrasound and RF signal. The 3 dimensional positions can be found using more than 3 range measurements. Furthermore, if more than 2 transmitters are used, the attitude can be determined using the baseline vectors obtained by differencing transmitter and receiver positions. The prototype system is implemented to evaluate the performance of the proposed method. In addition, an error analysis shows the relation between the attitude error and basel me length, quality of measurement and orientation of a vehicle. The static and dynamic experiments performed by micro mobile robot shows accurate position with less than 1.5cm error and attitude with less than 1 degree error can be obtained continuously with 20cm baseline. It is expected that these results can be adapted without modification to indoor applications such as home cleaning robot and autonomous wheelchair maneuvering.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.6
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• pp.645-651
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• 2012

In this paper, we propose a new method for stabilizing the image captured from a camera mounted on a buoy robot. In this study, in order to solve the problem of cumulative errors and noise produced by a general gyro sensor measuring the orientation angle of the buoy robot, we propose new method for stabilizing the image. In this method, image processing techniques are combined with a newly designed target mounting mechanism that adapts to wave fluctuations. New target extraction and angle estimation techniques are introduced, along with the new mounting mechanism used for the camera and the target, which produce a stabilized image even if the buoy robot is on fluctuating waves.