• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.76.2-76
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• 2001

In this paper, a new fusion architecture consisting of a host filter and a do-correlated compression filter is proposed based on propagated measurement fusion. In the proposed architecture, the host filter estimates the system states in long-term sense based on the measurements from the beginning to the current time. The de-correlated compression filter assists the host filter by providing fusion results in short-term sense based on the measurements within a block of time. The proposed de-correlated compression filter alleviates computational burden of the host filter by reducing the maximum amount of instantaneous computation, and provides an efficient environment for real-time fault detection and estimation.

• Smart Structures and Systems
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• 제31권3호
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• pp.301-309
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• 2023

Tilt is a key indicator of structural safety. Real-time monitoring of tilt responses helps to evaluate structural condition, enable cost-effective maintenance, and enhance lifetime resilience. This paper presents a prototype wireless sensing system for structural tilt measurement. Long range (LoRa) technology is adopted by the sensing system to offer long-range wireless communication with low power consumption. The sensor integrates a gyroscope and an accelerometer as the sensing module. Although tilt can be estimated from the gyroscope or the accelerometer measurements, these estimates suffer from either drift issue or high noise. To address this challenging issue and obtain more reliable tilt results, two sensor fusion algorithms, the complementary filter and the Kalman filter, are investigated to fully exploit the advantages of both gyroscope and accelerometer measurements. Numerical simulation is carried out to validate and compare the sensor fusion algorithms. Laboratory experiment is conducted on a simply supported beam under moving vehicle load to further investigate the performance of the proposed wireless tilt sensing system.

• 전자공학회논문지 IE
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• 제43권3호
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• pp.13-21
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• 2006

Ryu 등은 배열센서 출력을 이용하여 추정한 신호부공간으로부터 표적의 방위각 측정치를 구하고, 이를 이용하여 표적의 방위각 궤적을 추적하는 알고리즘을 제안하였다. Ryu 등이 제안한 방위각 추적 알고리즘은 별도의 데이터연관 필터가 필요 없으며 구조가 간단하다는 장점을 가지고 있다. Ryu의 방위각 추적 알고리즘에서는 신호부공간이 센서출력에 의해서 계속 쇄신되고 있지만 표본시간의 신호부공간에서 구한 측정치만을 사용하고 있으며, 신호대잡음비가 낮은 경우에는 Ryu 알고리즘의 추적 성능이 매우 급격히 저하되는 문제점을 가지고 있다. 본 논문에서는 Ryu 알고리즘의 방위각 추적 성능을 개선하기 위하여 표본시간의 신호부공간에서 구한 측정치뿐만 아니라 표본시간에 인접한 신호부공간으로부터 구한 측정치까지 사용할 수 있도록 ML(Maximum Lekelihood)에 기반을 둔 측정치 융합 기법을 제안한다. 그리고 제안한 측정치 융합 기법을 이용하여 Ryu 알고리즘과 같은 구조를 가지는 새로운 방위각 추적 알고리즘을 제안한다. 제안한 방위각 추적 알고리즘은 Ryu 알고리즘의 장점을 그대로 유지하면서 Ryu 알고리즘보다 향상된 추적 성능을 가진다.

• 제어로봇시스템학회논문지
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• 제18권1호
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• pp.54-61
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• 2012

In this paper, the pose estimation method for the satellite GTB (Ground Test Bed) using vision/MEMS IMU (Inertial Measurement Unit) integrated system is presented. The GTB for verifying a satellite system on the ground is similar to the mobile robot having thrusters and a reaction wheel as actuators and floating on the floor by compressed air. The EKF (Extended Kalman Filter) is also used for fusion of MEMS IMU and vision system that consists of a single camera and infrared LEDs that is ceiling landmarks. The fusion filter generally utilizes the position of feature points from the image as measurement. However, this method can cause position error due to the bias of MEMS IMU when the camera image is not obtained if the bias is not properly estimated through the filter. Therefore, it is proposed that the fusion method which uses the position of feature points and the velocity of the camera determined from optical flow of feature points. It is verified by experiments that the performance of the proposed method is robust to the bias of IMU compared to the method that uses only the position of feature points.

• 대한족부족관절학회지
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• 제1권1호
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• pp.38-42
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• 1997

It was well known that arthrodesis of the tarsal joint is an exellent procedure to correct the flatfoot deformity for relieving pain. Recently, concept of the selective tarsal joint fusion instead of the triple fusion was developedto preserve the joint motion. To investigate and compare the effect of the each different tarsal fusion, we measured the strain at the spring ligament, medial roof of the medial longitudianl arch. Five fresh frozen cadevar foot specimens, with distal half of the tibia were utilized. The superomedial portion of the spring ligament complex was dissected from the origin to the insertion. For each specimen, a calibrated open liquid metal strain guage was secured along the length of the superomedial portion. Under the specially devised test rig, measurement of the strain was taken at each test condition from the tare weight 18.2 lb followed by 38.2 lb., 82.2 lb and a maximum loads of 134.6 lb. : 1) unfused condition, 2) isolated subtalar fusion 3) isolated talonavicular fusion 4) combined subtalar and talonavicular fusion 5) triple fusion. Statistics showed that siginificant reduction in strain following the triple fusion, and from the subtalar fusion to triple fusion.

• 전기학회논문지
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• 제57권6호
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• pp.1042-1047
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• 2008

As an ultra-precision measurement system the heterodyne laser interferometer plays an important role in semiconductor industry. However the errors of environment and nonlinearity which are caused by air refraction and frequency-mixing separately reduce the accuracy of displacement measurement. In this paper we propose a DFNN(data fusion and neural network) method for error compensation. As a hybrid method of data fusion and neural network, DFNN method reduces the environmental and nonlinear error simultaneously. The effectiveness of the proposed error compensation method is proved through experimental results.

• International Journal of Air-Conditioning and Refrigeration
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• 제12권4호
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• pp.206-213
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• 2004

Cycle test for developed phase change material (PCM) is necessary in order to assess the variation of latent heat, which decreases with time by deterioration. T-history method and measurement using heat-flux meter are appropriate for the cycle test in a tube filled with PCM because they do not need an extraction of sample in measuring heat of fusion. In the present study, these methods were applied to a PCM having a melting point below a room temperature, different to the past studies for PCMs melting above a room temperature. As a result of experiment using pure water as specimen, we can obtained rea-sonable values for heat of fusion.

• 설비공학논문집
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• 제15권7호
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• pp.604-610
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• 2003

Cycle test for developed phase change material (PCM) is necessary in order to analyze the variation of latent heat, which decreases with time by deterioration. 7-history method and measurement using heat flux meter are appropriate for the cycle test in a tube filled with PCM because they do not need an extraction of sample in measuring the heat of fusion. In the present study, these methods were applied to a PCM having a melting point below a room temperature, different from the past studies for PCMs melting above a room temperature. As a result of experiment using pure water as specimen, we can obtain reason-able values for heat of fusion by both methods.

• 한국군사과학기술학회지
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• 제12권6호
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• pp.697-703
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• 2009

Target Motion Analysis(TMA) means to detect target position, velocity and course for using passive sonar system with bearing-only measurement. In this paper, we apply the TMA algorithm for a submarine with Multi-Sensor Data Fusion(MSDF) and we will decide the best TMA algorithm for a submarine by a series of computer simulation runs.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2005년도 추계학술발표회
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• pp.899-900
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• 2005