• 대한의용생체공학회:의공학회지
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• 제38권4호
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• pp.211-217
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• 2017

During the emergency situation such as cardiac arrest, cardiopulmonary resuscitation(CPR) is the most important treatment to maintain patient's blood circulation. Since the quality of CPR can not be easily measured or evaluated by the eye, an assistive device with an accelerometer can help to assess the pressure depth of CPR. In this study, we propose a single frequency analysis method to reduce the error of the accelerometer by extracting only one frequency component from the Fourier transform process. To verify the effectiveness of the single frequency analysis, acceleration data at CPR conditions were measured at a sampling rate of 50 / sec using a wristband equipped with an acceleration sensor. Then, We compared the existing distance estimation method and the single frequency analysis method using the measured data. The amplitude value proportional to the compression depth was obtained by applying the single frequency analysis method.

• 제어로봇시스템학회논문지
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• 제21권9호
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• pp.818-826
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• 2015

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

• 한국소음진동공학회논문집
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• 제15권3호
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• pp.364-370
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• 2005

The active magnetic bearing (AMB) systems mounted in moving vehicles are exposed to the disturbances due to the base motion, often leading to malfunction or damage as well as inaccurate positioning of the systems. Thus, in the controller design of such AMB systems, robustness to base disturbances becomes an essential requirement. In this study, effective control schemes are proposed for the homo-polar AMB system, which uses permanent magnets for generation of bias magnetic flux, when it is subject to base motion, and its control performance is experimentally evaluated. The base motion of AMB system is modeled as the dynamic disturbances in the gravity and base excitation forces. To effectively compensate for the disturbances, the angle feed-forward controller based on the inverse dynamic model and the acceleration feed-forward controller based on the normalized filtered-X LMS algorithm are proposed. The performance test of the prototype AMB system is carried out, when the system is mounted on rate table. The experimental results show that the performance of the proposed controllers for the AMB system is satisfactory in compensating for the disturbances due to the base motion.

• 한국공작기계학회논문집
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• 제17권3호
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• pp.40-46
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• 2008

This paper presents the optimal motion control for 3-axis SCARA robot by using $LabVIEW^{(R)}$. Specifically, for optimal motion control of 3-axis SCARA robot, we study velocity profile based on finite jerk(the first derivative of acceleration) and optimal gain tunig based on frequency response method by using $LabVIEW^{(R)}$. The velocity optimization with finite jerk aims at generating the smooth velocity profile of robot. Velocity profile based on finite jerk is acquired and applied to 3-axis SCARA robot by using $LabVIEW^{(R)}$. DSA(Dynamic Signal Analyzer) for frequency response method is programed by using $LabVIEW^{(R)}$. We obtain the bode plot of transfer function about 3-axis SCARA robot by using DSA, and perform the gain tuning considering dynamic characteristic based on the bode plot. These experiments have shown that the proposed motion control can reduce vibration displacement and response error rate each 33.7% and 51.7% of 3-axis SCARA robot.

• 한국산학기술학회논문지
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• 제11권5호
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• pp.1735-1740
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• 2010

추진제 KM10은 NC(Nitrocellulose)를 주원료로 제조된 단기추진제로서 장기저장시 자연분해현상을 일으키는 것으로 알려져 있다. 저장수명추정은 잔류안정제 함량분석을 위해 일반적으로 이용되는 고온가속노화시험을 사용하였으며, 반응속도상수 산출을 위해 Arrhenius 식과 Berthelot 식을 사용하였다. 본 연구 결과에 따르면 Arrhenius 식과 Berthelot 식을 이용하여 추정한 추진제 KM10의 저장수명은 43.72년, 16.53년으로 큰 차이를 보였으며, E. R. Bixon의 연구결과[1]와 비교할 때 Arrhenius Equation을 이용하여 추정한 43.72년이 타당한 것으로 판단된다.

• Smart Structures and Systems
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• 제6권9호
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• pp.1025-1039
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• 2010

Measuring displacement response for civil structures is very important for assessing their performance, safety and integrity. Recently, video-based techniques that utilize low-cost high-resolution digital cameras have been developed for such an application. These techniques however have relatively low sampling frequency and the results are usually contaminated with noises. In this study, an integrated visual-inertial measurement method that combines a monocular videogrammetric displacement measurement technique and a collocated accelerometer is proposed for displacement and velocity measurement of civil engineering structures. The monocular videogrammetric technique extracts three-dimensional translation and rotation of a planar target from an image sequence recorded by one camera. The obtained displacement is then fused with acceleration measured from a collocated accelerometer using a multi-rate Kalman filter with smoothing technique. This data fusion not only can improve the accuracy and the frequency bandwidth of displacement measurement but also provide estimate for velocity. The proposed measurement technique is illustrated by a shake table test and a pedestrian bridge test. Results show that the fusion of displacement and acceleration can mitigate their respective limitations and produce more accurate displacement and velocity responses with a broader frequency bandwidth.

• Corrosion Science and Technology
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• 제14권5호
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• pp.232-238
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• 2015

Corrosion is of greatest concern for metallic materials exposed to corrosive seawater or aggressive marine atmospheres. Marine structures and components made of metallic materials incur an initial cost and additional large costs for corrosion control and maintenance. There have been worldwide efforts to minimize marine corrosion and extend service life of the materials. It is believed that various factors are associated with corrosion of marine grade metallic materials, particularly the temperature of the solution affecting the corrosion rate by changing dissolved oxygen solubility and concentrations of chloride. In the present study, the electrochemical characteristics of S355ML steel are investigated to identify corrosion acceleration tendencies with changes in solution temperature under marine environments. It was found that increasing seawater temperature, promoted not only activation of chloride ion transfer, but also the formation of porous $Fe(OH)_3$ or $Fe_2O_3$, leading to the acceleration of corrosion.

• 한국군사과학기술학회지
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• 제19권3호
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• pp.281-287
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• 2016

The purpose of this study is to analyze the vibration characteristics and develop a mounting which can improve the strength safety factor to replace the high failure rate APU(auxiliary power unit) imported metal mounts with rubber mount that can be domestically produced. For this study, we analyzed in 3 kinds of rubber mounts hardness for the natural frequency to avoid the average excited frequency of the APU. In addition, allowed vibration acceleration of rubber mount confirmed to 90.8 g by adding a strength safety factor. To assure the validity of the design, we measure the vibration acceleration equipped with a metal mount and rubber mount 2 species(Hs 50 and 60). As a result, the proposed design method in this study is reasonable because the rubber mounts is excellent strength safety factor and vibration transmissibility than metal mounts.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.486-489
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• 2004

The active magnetic bearing (AMB) systems mounted in moving vehicles are exposed to the disturbances due to the base motion, often leading to malfunction or damage as well as inaccurate positioning of the systems. Thus, in the controller design of such AMB systems, robustness to base disturbances becomes an essential requirement. In this study, effective control schemes are proposed for the homo-polar AMB system, which uses permanent magnets for generation of bias magnetic flux, when it is subject to base motion, and its control performance is experimentally evaluated. The base motion of AMB system is modeled as the dynamic disturbances in the gravity and base excitation forces. To effectively compensate for the disturbances, the angle feed-forward controller based on the inverse dynamic model and the acceleration feed-forward controller based on the normalized filtered-X LMS algorithm are proposed. The performance test of the prototype AMB system is carried out, when the system is mounted on rate table. The experimental results show that the performance of the proposed controllers for the AMB system is satisfactory in compensating for the disturbances due to the base motion.

• 한국해양공학회지
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• 제31권2호
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• pp.177-182
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• 2017

This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.