• ETRI Journal
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• v.30 no.1
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• pp.59-67
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• 2008

The necessity for the precise time synchronization of measurement data from multiple sensors is widely recognized in the field of global positioning system/inertial navigation system (GPS/INS) integration. Having precise time synchronization is critical for achieving high data fusion performance. The limitations and advantages of various time synchronization scenarios and existing solutions are investigated in this paper. A criterion for evaluating synchronization accuracy requirements is derived on the basis of a comparison of the Kalman filter innovation series and the platform dynamics. An innovative time synchronization solution using a counter and two latching registers is proposed. The proposed solution has been implemented with off-the-shelf components and tested. The resolution and accuracy analysis shows that the proposed solution can achieve a time synchronization accuracy of 0.1 ms if INS can provide a hard-wired timing signal. A synchronization accuracy of 2 ms was achieved when the test system was used to synchronize a low-grade micro-electromechanical inertial measurement unit (IMU), which has only an RS-232 data output interface.

• Proceedings of the IEEK Conference
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• 2003.07d
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• pp.1549-1552
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• 2003

Semiconductor gas sensor using tin oxide as sensing material has been used to detect gases based on the fact that impedance of the sensing material varies when the gas sensor is exposed to the gases. This variation comprises of two parts. The first one is variation in resistance of the sensing material and the other is expressed in terms of the sensor capacitance variation. Normally, only variation of the sensor resistance is considered. In this paper, using AC measurement with a capacitor-coupled inverting amplifier circuit, both changes in the sensor resistance and variations in the sensor capacitance were investigated. These characteristics were represented as magnitude gain and phase shift of AC signal at a specific frequency after passing it through the sensor and the designed circuit. A two-stage artificial neural network, which utilized the information above, was employed to identify and quantify three combustible gases: methane, propane and butane. The network outputs were approximately proportional to concentrations of test gases with reasonable level of error.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.96-103
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• 2009

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.573-576
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• 2005

A compact linear and angular displacement measurement device was developed by combining a Michelson interferometer and an autocollimator to characterize the movement of a precision stage. A Michelson interferometer and an autocollimator are typical devices for measuring linear and angular displacement, respectively. By controlling the polarization of reflected beam from the target mirror of the interferometer, some part of light was retro-reflected to the light source and the reflected beam was used for angle measurement. The interferometer and the autocollimator use the same optic axis and the target mirror can be easily and precisely aligned orthogonal to the optic axis by monitoring the autocollimator s signal. The autocollimator was designed for angular resolution of 0.1 arcsec and dynamic range of 60 arcsec. The nonlinearity error of interferometer was minimized by trimming the gain and offset of the photodiode signals. Through the experiments, we evaluate the performance of measurement device and discuss its applications.

• Journal of Environmental Science International
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• v.13 no.7
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• pp.637-643
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• 2004

A new method of automatic recording raingauge is developed to measure rainfall with 0.01mm resolution. This use two different signals to measure rainfall more accurately compare than other raingauges. One is weight of the tipping bucket with rainfall amount and the other is pulse from tipping bucket reverse. New method applied 1 mm tipping bucket mechanism and install loadcell under tipping bucket mechanism for measuring rainfall weight. Loadcell measure weight of rainfall until 1 mm with 0.01 mm resolution and more than 1 mm than bucket reverse and pulse signal generate, after that loadcell measure weight again. The validation of new instrument was examined in the room 65 mm/hour rainfall rate total 53 mm range. There is below than 1 % error of absolute rainfall amount and 0.01 mm resolution. The field test of instrument was carried out by comparing its measured values with values recorded by weight type and standard type on June 1 2003 at Terrestrial Environmental Research Center at Tsukuba University in Tsukuba of Japan, when it has recorded total amount of 40.58 mm rainfall by standard raingauge and new raingauge recorded 41.032 mm. Same rainfall intensity pattern observed in field observation with weight type raingauge. Rainfall intensity between weight type and Lee-A type raingauge reached 0.9947 correlation in 3 minute average.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.207-217
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• 2000

In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are angle, distance error and real position of other vehicles, we should calculate the reference steering angle.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.11
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• pp.37-45
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• 2010

Stroke patients can't use their hands because of the paralysis of their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by grasping a spherical object. At present, the used object in hospital is only a spherical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the spherical object measuring system which can measure the force of their fingers should be developed. In this paper, the finger-force measuring system with a six-axis force/moment sensor which can measure the spherical-object grasping force is developed. The six-axis force/moment sensor was designed and fabricated, and the force measuring device was designed and manufactured using DSP (digital signal processing). Also, the grasping force test of men was performed using the developed finger-force measuring system, it was confirmed that the average force of men was about 120N.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.12
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• pp.101-108
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• 2005

The GPS(Global Positioning System) receiver for satellite launch vehicles which will be mounted on a launch vehicle can be applied to the flight safety system with its accurately calculated position and velocity data during vehicle's flight. This paper analyzes the performance of the GPS receiver such as SNR(Signal to Noise Ratio), fix mode, position and velocity error, number of visible and tracking satellites, and PDOP(Position Dilution of Precision) under temperature variation which is changed from -34$^{\circ}C$ to +71$^{\circ}C$.

• Journal of Advanced Navigation Technology
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• v.13 no.2
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• pp.187-193
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• 2009

A lens which is one of cores for the high precision laser range finder is utilized to compute the distance by measuring the phase displacement. In order to measure the phase displacement, we transmit the optical signal from the laser diode to a target and receive the reflected laser light from the target. In this paper, we propose new lens design technique to solve the problem due to the inconsistent curvature of the lens, which consistently collects optical signals and performs the transmission and reception of the optical data, and test the implementation of the laser range finder based on the proposed technique. Since the proposed laser range finder has low error rate comparing to the conventional techniques, it may be apply to the high precision distance measurement.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.19 no.2
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• pp.162-168
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• 2006

Recently, diagnosis techniques have been investigated to detect a Partial Discharge associated with a dielectric material defect in a high voltage electrical apparatus, However, the properties of detection technique of Partial Discharge aren't completely understood because the physical process of Partial Discharge. Therefore, this paper analyzes the process on surface discharge of polymer insulator using wavelet transform. Wavelet transform provides a direct quantitative measure of spectral content in the time~frequency domain. As it is important to develop a non-contact method for detecting the kaolin contamination degree, this research analyzes the electromagnetic waves emitted from Partial Discharge using wavelet transform. This result experimentally shows the process of Partial Discharge as a two-dimensional distribution in the time-frequency domain. Feature extraction parameter namely, maximum and average of wavelet coefficients values, wavelet coefficients value at the point of $95\%$ in a histogram and number of maximum wavelet coefficient have used electromagnetic wave signals as input signals in the preprocessing process of neural networks in order to identify kaolin contamination rates. As result, root sum square error was produced by the test with a learning of neural networks obtained 0.00828.