• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.34-39
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• 1993

Presented in this paper is a complete error covariance analysis for strapdown inertial navigation system(SDINS). We have found that in SDINS the cross-coupling terms in gyrocompass alignment errors can significantly influence the SDINS error propagation. Initial heading error has a close correlation with the east component of gyro bias erro, while initial level tilt errors are closely related to accelerometer bias errors. In addition, pseudo-state variables are introduced in covariance analysis for SDINS utilizing the characteristics of gyrocompass alignment errors. This approach simplifies the covariance analysis because it makes the initial error covariance matrix to a diagonal form. Thus a real implementation becomes easier. The approach is conformed by comparing the results for a simplified case with the covariance analysis obtained from the conventional SDINS error model.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.355-359
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• 2006

For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment, a bran-new SINS stationary fast self-alignment approach is proposed. By means of analyzing the characteristic of the strapdown inertial navigation system (SINS) stationary alignment seriously, the new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS. Firstly, coarse alignment algorithm is presented. Secondly, a new fine alignment model for SINS stationary self-alignment is derived, and the observability of the model is analysed. Then, a modified Sage-Husa adaptive Kalman filter is introduced to estimate the misalignment angles. Finally, some computer simulation results illustrate the efficiency of the new approach and its advantages, such as higher alignment accuracy, shorter alignment time, more self-contained and less calculation.

• Journal of Korea Multimedia Society
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• v.17 no.9
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• pp.1041-1051
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• 2014

In this paper, we propose a new image alignment technique based on CUDA SURF in order to solve the initial image alignment problem that frequently occurs in machine vision applications. Machine vision systems using multi-spectral images have recently become more common for solving various decision problems that cannot be performed by the human vision system. These machine vision systems mostly use markers for the initial image alignment. However, there are some applications where the markers cannot be used and the alignment techniques have to be changed whenever their markers are changed. In order to solve these problems, we propose a new image alignment method for multi-spectral machine vision applications based on SURF extracting image features without depending on markers. In this paper, we propose an image alignment method that obtains a sufficient number of feature points from multi-spectral images using SURF and removes outlier iteratively based on a least squares method. We further propose an effective preliminary scheme for removing mismatched feature point pairs that may affect the overall performance of the alignment. In addition, we reduce the execution time by implementing the proposed method using CUDA based on GPGPU in order to guarantee real-time operation. Simulation results show that the proposed method is able to align images effectively in applications where markers cannot be used.

• The korean journal of orthodontics
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• v.28 no.4 s.69
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• pp.591-600
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• 1998

The purpose of this study was to investigate the root resolution and repair pattern of human teeth according to the force magnitude, direction and duration during the initial leveling and alignment phase. 40gms to 500gms of force applied to the 37 experimental teeth with duration of 3 weeks to 7 months. Then, the experimental teeth were extracted. 13 control teeth were extracted without treatment. The results are as follows: 1. $59.5\%$ of 37 teeth exhibited root resorption. The initial resorption site was visible at the apex within 3 weeks with 100 gms samples, and the initial repair site was visible at the apex within 3 months with 400 gms samples. 2. Number of resorbed teeth increased with the duration of the force. 3. The depth of the resorption increased with the magnitude of the force. 4. The areas of resorbed root corresponded with the loading pattern. 5. The areas of resorbed root were highly correlated with the magnitude of the force. The result of this study suggest that root resorption could occur during the initial leveling and alignment phase, These initial injuries are all small and insignificant. It is the extensive type of apical root resolution that must be regarded as deleterious to the function and stability of the tooth moved. During the initial leveling and alignment phase lighter force of the interrupted type and short treatment period would be favorable with regard to avoidance of root resorption and repair of resorbed root surface.

• The korean journal of orthodontics
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• v.45 no.2
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• pp.89-94
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• 2015

Objective: To test the null hypothesis that SmartClip self-ligating brackets are more effective than conventional brackets for initial mandibular alignment and identify influential factors. Methods: Fifty patients were randomly allocated to two equal treatment groups by using an online randomization program: self-ligating group (SmartClip brackets) and conventional group (Gemini brackets). The archwire sequence was standardized. Changes in anterior irregularity index, intercanine width, and intermolar width were assessed on plaster models at 8th and 16th weeks. Changes in incisor position and inclination were assessed on lateral cephalometric radiographs at 16 weeks. Intragroup and intergroup comparisons were performed with paired t-test and Student's t-test, respectively. Multiple linear regression was performed to identify variables affecting improvement in anterior ambiguity. Results: Data of 46 patients were analyzed; those missing an appointment (n = 2) or showing bracket breakage (n = 2) were excluded. Incisor inclination (p < 0.05), intercanine width (p < 0.05), and intermolar width (p > 0.05) increased at 8 and 16 weeks in both the groups; no significant intergroup differences were noted (p > 0.05). Initial anterior irregularity index and intercanine width change were significantly associated with improvement in anterior irregularity (p < 0.001). Conclusions: The null hypothesis was rejected. Bracket type has little effect on improvement in anterior ambiguity during initial mandibular alignment.

• Journal of the Korean Society for Precision Engineering
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• v.4 no.4
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• pp.56-71
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• 1987

Determination of navigation variables (latitude, longitude, and altitude) near the earth's surface is termed 'Terrestrial Navigation'. The quantities that are measured inertially are the total acceleration (or the integral fo this acceleration over a fixed time interval) and the total angular rate (or the integral of this angular rate over the same time interval). These measurements when suitably compensated can be manipulated to yield the navigation variables. Hence, it is essential that the initial values of position, orientation and velocity are accurately set up during the initial alignment process. Initial alignment of gimballed inertial navigation system ( GINS) is accomplished by gyrocompassing techniques. These cannot be used, in the case of strapdown inertial navigation system(SDINS), where the inertial instruments are directly strapped down to a vehicle frame. The basic objective of this paper is the development of digital method for the determination of the initial axes erection of a SDINS from vibration and sway currupted data on the launch pad.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.1
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• pp.26-32
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• 2005

Rotor position information is essential in the operation of the switched reluctance motor(SRM) drive for generation the phase current switching signals. When an incremental encoder is used as a rotor position sensor, the initial rotor position can not be detected. Some sensorless rotor position estimation methods also have the same problem. In these systems, to initially align the rotor, the forced alignment method has a delay and reverse rotation before the motor can start. Therefore it can not be acceptable for unidirectional drive systems. So the forced alignment method is not desirable in all drive systems and the research on the SRM drives should be directed to a system without rotor alignment. In this paper, a new detection method of initial rotor position using the rate of change of current is suggested. Firstly, di/dt versus θ/sub R/ reference table, which is the relation between the rate of change of current and rotor position, is generated and then the squared Euclidean distance method is used to estimate the rotor position based on the table. The simulated and experimental results are presented demonstrating the feasibility and accuracy of this method.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.136-141
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• 1991

An Overlapping Decomposed Filter(ODF) accomplishing an initial alignment of an INS is proposed in this paper. The proposed filter improves the observable condition and reduces the filtering computation time. Its good performance has been verified by simulation. Completely observable and controllable conditions of INS error model derived from psi-angle approach are introduced under varying sensor characteristics vary. The east components of gyro and accelerometer have to be the first order markov process and the rest of them are the characteristics of the random walk or first order markov process.

• Journal of Advanced Navigation Technology
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• v.26 no.4
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• pp.235-243
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• 2022

In this paper, in the case of an inertial navigation system, the posture estimation error in the initial alignment due to vertical deflection is analyzed. Posture estimation error due to DOV was theoretically analyzed based on the speed and posture error of INS. Simulations were performed to verify the theoretical grinding, and the results were in good agreement. For example, in the case of η=20", an alignment error of ϕ_N=0.00287°, ϕ_U=0.00196° occurred, and in the case of 𝜉=20", an error of ϕ_E= -0.00286° occurred. Through this, it was confirmed that the vertical posture error caused by the DOV occurred as a coupling characteristic of the INS posture error. It has been shown that an additional posture error may occur due to the DOV, which was not considered in the existing INS alignment, which means that correction for the DOV must be considered when applying high-precision INS.

• Phonetics and Speech Sciences
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• v.7 no.4
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• pp.139-145
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• 2015

The present study investigates the effects of syllable structure and prosodic prominence on the patterns of tonal alignment and scaling of the phrase-initial rise in Seoul Korean. Two syllable structures (Onset (/#CVC.../ as in minsa) vs. No-onset (/#VC.../ as in insa)) and two prominence conditions (Focus vs. Neutral) were considered. Results showed that the alignment of the L and the H tones in the phrase-initial rise was affected by syllable structure but not by prominence. The time of L was before the vowel onset of the first syllable in the Onset condition (i.e., within the onset consonant) and it was after the vowel onset in the No-onset condition. The difference was attributable to the fact that the initial L was anchored at a fixed distance from the phrase boundary, which was about 30ms after the onset of the syllable in both cases. The time of H was also consistently observed about 20ms after the second vowel onset (i.e., /a/ in minsa/insa). Moreover, the rise time (the duration from the L to the H tones) was longer as the local syllable duration became longer due to different syllable structure and prominence conditions. Taken together, the results provide a support for the segmental anchoring hypothesis, which claims that both the beginning and the end of F0 movement are consistently aligned with segmental 'anchor' points with relatively high stability (Ladd et al., 1999). Results also showed that the scaling of the early rise was slightly influenced by syllable structure but not by prominence. The differences between the results of the current study and a previous study (Cho, 2011) are further discussed.