• The Transactions of the Korean Institute of Power Electronics
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• v.5 no.1
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• pp.95-103
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• 2000

In this paper, a novel indirect rotor position sensing method is proposed to improve the performClIlce of sensorless drive of brushless DC motors. The fast mode change to the sensorless operation is difficult in the existing indirect rotor position sensing methods because a precise rotor position can not be obtained when an excessive input is applied to the drive during synchronous operation mode. To cope with this problem, the relationship between terminal voltage and back-emf waveform is analyzed in this paper, also a novel indirect position sensing method which can detect a precise rotor position at low speed range is proposed. The effectiveness of the proposed method is verified through the experimental results.

• Journal of Positioning, Navigation, and Timing
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• v.8 no.4
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• pp.183-192
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• 2019

In fingerprint-based wireless positioning, it is necessary to establish a DB of the unmeasured area. To this end, a method of estimating the position of a base station based on a signal propagation model, and a method of estimating the information of the received signal in the unmeasured area based on the estimated position of the base station have been investigating. The purpose of this paper is to estimate the position of the base station using the measured information and to analyze the performance of the positioning. Vehicles equipped with a GPS receiver and signal measuring equipment travel the service area and acquire location-based Reference Signal Received Power (RSRP) measurements. We propose a method of estimating the position of the base station using the measured information. And the performance of the proposed method is analyzed on a simulation basis. The simulation results confirm that the accuracy of the positioning is affected by the measured area and the Dilution of Precision (DOP), the accuracy of the position information obtained by the GPS receiver, and the errors of the signal included in the RSRP. Based on the results of this paper, we can expect that the position of the base station can be estimated and the DB of the unmeasured area can be constructed based on the estimated position of the base stations and the signal propagation model.

• The Journal of Information Systems
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• v.19 no.1
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• pp.1-17
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• 2010

This paper proposes an updating policy of indoor moving object databases (IMODB) for location-based services. our method applies the Ka1man filter on the recently collected measured positions to estimate the moving object's position and velocity at the moment of the most recent measurement, and extrapolate the current position with the estimated position and velocity. If the distance between the extrapolated current position and the measured current position is within the threshold, in other words if they are close then we skip updating the IMODB. When the IMODB needs to know the moving object's position at a certain moment T, it applies the Kalman filter on the series of the measurements received before T and extrapolates the position at T with the estimations obtained by the Kalman filter. In order to verify the efficiency of our updating method, we performed the experiments of applying our method on the series of measured positions obtained by applying the fingerprinting indoor positioning method while we are actually walking through the test bed. In the analysis of the test results, we estimated the communication saving rate of our method and the error increment rate caused by the communication saving.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.10
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• pp.1809-1815
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• 2010

This paper presents an improved method for high-resolution rotor position estimation in the permanent magnet synchronous motor (PMSM) drives with low-resolution Hall-effect sensors. The proposed method adopts a gain-scheduled full-order speed observer. Since the quantized position signal, which is obtained from Hall-effect sensors, is basically used as the input of the observer, the sixth-order harmonics are essentially included in the estimated position. To eliminate the harmonic components, the quantized position is linearized by a linear extrapolation based on the estimated average speed and futhermore the speed-depentent observer gain scheduling strategy is developed. The observer gain is also scheduled by considering the motor acceleration to improve the dynamic performance according to the changes of the motor speed and load. Several experiments are performed for 800W PMSM drive and the results demonstrate the effectiveness of the proposed method.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.2
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• pp.163-170
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• 2004

Since 1960s, a container shipping volume has increased dramatically and continuous on a trend of rapid growth, and so the number of containers handled at the port increases. The position measurement of the yard crane is very important for improving the operating efficiency of the port. This paper describes the method to measure the absolute position of yard crane accurately and rapidly, using both the output pulse of an encoder and infrared sensors. The crane position is calculated by counting the output pulse of an incremental encoder, which is mounted on the wheel in the crane. By the way, the wheel slippage on rail may cause some errors in the crane position information obtained from encoder pulse, and the infrared sensor is used to compensate for errors in the crane position information. The performance of proposed method is verified on experimental results with the simulator of yard crane, the size of which is about 1/10 with the real crane.

• Imaging Science in Dentistry
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• v.39 no.3
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• pp.133-147
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• 2009

Purpose : To investigate the reproducibilities and compare the measurements in digital and MDCT-synthesized cephalometric radiograph, and to investigate the effect of head position on the measurement during imaging with MDCT. Materials and Methods : Twenty-two dry skulls (combined with mandible) were used in this study. Conventional digital cephalometric radiograph was taken in standard position, and MDCT was taken in standard position and two rotated position ($10^{\circ}$ left rotation and $10^{\circ}$ right tilting). MDCT data were imported in $OnDemand^{(R)}$ and lateral cephalometric radiograph were synthesized from 3D virtual models. Two types of rotated MDCT data were synthesized with default mode and with corrected mode using both ear rods. For all six images, sixteen angular and eleven linear measurements were made in V-$Ceph^{(R)}$ three times. Reproducibility of measurements was assessed using repeated measures ANOV A and ICC. Linear and angular measurements were compared between digital and five MDCT-synthesized images by Student t-test. Results : All measurements in six types of cephalometric radiograph were not statistically different under ICC examination. Measurements were not different between digital and MDCT-synthesized images (P>.05). Measurements in MDCT-synthesized image in $10^{\circ}$ left rotation or $10^{\circ}$ right tilting position showed possibility of difference from digital image in some measurements, and possibility of improvement via realignment of head position using both ear rods. Conclusion : MDCT-synthesized cephalometric radiograph can substitute conventional cephalometric radiograph. The error on head position during imaging with MDCT have possibility that can produce measurement errors with MDCT-synthesized image, and these position error can be corrected by realignment of the head position using both ear rods.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1512-1515
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• 1997

One of the advantages of master-slave teleoperation is scaling concept such as position scaling, force scaling Meanuhile, lots of quantization effects are generated from position and force sensors in the master and slave manipulator. In this paper, to show the output error caused by the quantizaion effects from the position sensor and position scaling factor, simulation is done for free motion without contact in slave side. Transfer functiion model in which the quantization effect is assumed to be a disturbance input to the system is derived. Model shows that Jacobian, scaling factors, and controller affect the output by quantization effects form esnsors. One dof master and slave are used for simulation. In our study, the higher sensor resolution decreases the output error form quantization. Scaling factors can amplify the quantizatiion effects form the sensors in master and slave manipulators.

• Journal of Oral Medicine and Pain
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• v.23 no.1
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• pp.65-73
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• 1998

This study evaluated whether substantial airflow resistance changes occurred by changing jaw position in normal and snoring subjects. A case-control design was utilized to assess group differences. Subjects included 11 snoring patients and 10 non-snoring subjects. Airway resistance was assessed using a whole body plethysmograph. Subjects in this study had their mouth opening standardized to a position of 7 mm of vertical separation and the resistance was measured under the following conditions; normal jaw position and 2/3 maximum protrusive jaw position. The results were as follows : 1. The airway resistance was higher in snoring group than in non-snoring group. 2. Both groups had a significant decrease in their airflow resistance upon jaw protrusion. In conclusion, these data document that airflow resistance can be significantly influenced by jaw positioning. Moving the jaw in a protrusive position produced reduction of resistance.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.104-113
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• 1996

In robot system, the robot manipulation needs the information of task and objects to be handled in possessing a variaty of positions and orientations. In the current industrial robot system, determining position and orientation of objects under industrial environments is one of major problems. In order to pick up an object, the roblt needs the information about the position and orientation of object, and between objects and gripper. When sensing is accomplished by pinhole model camera, the mathematical relationship between object points and their images is expressed in terms of perspective, i.e., central projection. In this paper, a new approach to determine the information of the supporting points related to position and orientation of the object using the robot vision system is developed and testified in experimental setup. The result will be useful for the industrial, agricultural, and autonomous robot.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.293-296
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• 1999

In conventional automatic container-terminal, the gantry cranes are operated manually or semi-automatically. But UGC is an unmanned-operated gantry crane and the positioning information for UGC is supplied only by position-measuring devices. In order to enhance the operation efficiency of UGC, it is required that the position-measuring devices have long maintenance period and are not sensitive to the weather and environment condition. And in order to be used practically in container terminal, the cost of position-measuring devices is not higher than currently used measuring devices. In the study, it is discussed the requirements for position-measuring devices in UGC, And it is studied on the measuring devices suitable to UGC. From this study, it is expected that the combination of a rotary encoder and a ferrous metal detector is useful for position-measuring devices in UGC.