• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.10
• /
• pp.147-154
• /
• 2000

A new hardware compensation method reducing displacement measurement errors, caused by tilt of index scale in moire linear encoders, has been developed. In conventional moire linear encoders, the detectors are aligned perpendicular to the line of moire fringes this structure is very sensitive to an unwanted tilt of the gratings. In this paper, a newly designed grating, called a phase-modulated grating, is developed to compensate for non-orthogonal errors. By using the phase-modulated grating instead of a conventional index, it is possible to reduce non-orthogonal errors of moire linear encoders.

• Journal of Korea Multimedia Society
• /
• v.25 no.2
• /
• pp.297-310
• /
• 2022

Road facilities such as CCTV poles have potential risk of collision accidents with a car. A collision detection algorithm installed in the facility allows the collision accident to be known remotely. Most collision detection algorithms are operated by simply focusing on whether a collision have occurred, because these methods are used to measure only acceleration data from a 3-axis sensor to detect collision. However, it is difficult to detect other detailed information such as malfunction of the sensor, collision direction and collision strength, because it is not known without witness the accident. Therefore, we proposed enhanced detection algorithm to get the collision direction, and the collision strength from the tilt of the facility after accident using a 9-axis sensor in this paper. In order to confirm the performance of the algorithm, an accuracy evaluation experiment was conducted according to the data measurement cycle and the invocation cycle to an detection algorithm. As a result, the proposed enhanced algorithm confirmed 100% accuracy for 50 weak collisions and 50 strong collisions at the 9-axis data measurement cycle of 10ms and the invocation cycle of 1,000ms. In conclusion, the algorithm proposed is expected to provide more reliable and detailed information than existing algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.42 no.11
• /
• pp.937-946
• /
• 2014

This paper presents system identification of a single tilt wing UAV. A Modified Equation Error Method(MEEM) and Extended Kalman Filter(EKF) are used for the identification of a single tilt wing UAV system in frequency-domain and time-domain, respectively. Simulated flight data is obtained from CNUX-3's vertical mode linear simulation with realistic sensor noise. System identification performance is analyzed with respect to a variety of design parameters of the MEEM. Also, High accuracy Fourier Transform(HFT) is applied to enhance the performance of MEEM. The results of the MEEM is compared with those of the EKF. Design parameters of the MEEM and initial conditions of the EKF are decided from optimization.

• Physical Therapy Rehabilitation Science
• /
• v.9 no.2
• /
• pp.74-81
• /
• 2020

Objective: To prevent low back pain, an objective evaluation tool to evaluate pelvic mobility and exercise to improve the flexibility of the lumbar region is needed. The purpose of this study was to compare the results of pelvic mobility measurements using the Wii Balance Board (WBB) and Sensbalance Therapy Cushion (STC), evaluate the usefulness of the STC as a tool for measuring pelvic mobility. Design: Cross-sectional study. Methods: Fifty healthy subjects participated in this study. The subjects performed pelvic mobility range, proprioception, reaction time and reach of the arm using the STC. The pelvic movement parameter was measured two times to determine the intra-rater reliability. To measure the correlation between lumbar muscle tension and pelvic mobility, Myovision was used to measure tension of L4, L5 level erector spinae muscle. Correlations between measured variables were checked to determine the validity of the pelvic mobility assessment tool. Results: STC showed high test-retest reliability in pelvic tilt measurement and reaching task [intraclass correlation coefficients (3,1)=0.804-0.915]. The relationship between WBB and STC showed a significant positive correlation with the pelvic tilt and reaching task (p<0.05). Posterior tilt and erector spinae activation (Lt. L5) showed a significant negative correlation (p<0.05). Left, right tilt and erector spinae activation (L5) showed a significant negative correlation (p<0.05). Conclusions: This study confirmed the advantages of the STC and found efficiency as an objective measuring device of pelvic mobility.

• The Journal of Natural Sciences
• /
• v.5 no.1
• /
• pp.87-93
• /
• 1992

A robotically assisted field material handling system designed for loading and unloading of a planar pallet with a forklift in unstructured field environment is presented. The system uses combined acoustic/visual sensing data to define the position/orientation of the pallet and to determine the specific locations of the two slots of the pallet, so that the forklift can move close to the slot and engage it for transport. In order to reduce the complexity of the material handling operation, we have developed a method based on the integration of 2-D range data of Poraloid ultrasonic sensor along with 2-D visual data of an optical camera. Data obtained from the two separate sources complements each other and is used in an efficient algorithm to control this robotically assisted field material handling system . Range data obtained from two linear scannings is used to determine the pan and tilt angles of a pallet using least mean square method. Then 2-D visual data is used to determine the swing angle and engagement location of a pallet by using edge detection and Hough transform techniques. The limitations of the pan and tilt orientation to be determined arc discussed. The system developed is evaluated through the hardware and software implementation. The experimental results are presented.

• Korean Journal of Remote Sensing
• /
• v.25 no.2
• /
• pp.133-143
• /
• 2009

This paper describes differences of performance when the orbit attitude model is applied to the respective images obtained from two different types of satellite. The one is Spot that rotates its pointing mirror and the other is Kompsat-2 that rotates its whole body when they obtain imagery for target. Our research scope is limited to the orbit-attitude model only as its good performance was proved in prior investigation. Model performances between two images were compared with sensor model accuracy and 3D coordinates calculation. The results show performances of the orbit-attitude model for each image type were different. For Spot imagery, the model required attitude angle to be included as adjustment parameters. For Kompsat-2 imagery, the model required high-order parameter for adjustment. This implies that satellite sensor model may be applied differently in accordance with platform's attitude control scheme and accuracy. Understanding of this information can be a base for improvement and development of model and application for new satellite images.

• International Journal of Advanced Culture Technology
• /
• v.4 no.1
• /
• pp.28-30
• /
• 2016

Due to the high increment in usage and built-in advanced technology of smartphones, human activity recognition relying on smartphone sensor data has become a focused research area. In order to reduce noise of collected data, most of previous studies assume that smartphones are fixed at certain positions. This strategy is impractical for real life applications. To overcome this issue, we here investigate a framework that allows detecting the status of a traveller as idle or moving regardless the position and the direction of smartphones. The application of our work is to estimate the total energy consumption of a traveller during a trip. A number of experiments have been carried out to show the effectiveness of our framework when travellers are not only walking but also using primitive vehicles like motorbikes.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1993.10a
• /
• pp.570-574
• /
• 1993

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. Form this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

• The Journal of Korea Robotics Society
• /
• v.4 no.4
• /
• pp.289-297
• /
• 2009

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

• Journal of the Korean Solar Energy Society
• /
• v.29 no.1
• /
• pp.38-43
• /
• 2009

In this paper. a prototype of a mobile Sun tracking system is proposed. The proposed system uses 2-axis tilt sensor and 3-axis magnetic sensor to measure the orientation and the posture of the system according to the horizontal system of coordinates, which are used to compensate the slope effects. Then through astronomical calculation using the time and position information obtained by GPS sensor the azimuth and altitude of the Sun from that location is calculated. The position of the Sun is converted to that of the mobile Sun tracking system coordinates and used to control A-axis and C-axis of the system.