• Proceedings of the KIEE Conference
• /
• 2009.07a
• /
• pp.1835_1836
• /
• 2009

본 논문에서는 비접촉식 미세 측정 광학기에 의해 측정된 이미지를 Stitching 기술과 B-Spline 보간법에 의해 보다 빠르고, 정밀한 복원 기법을 제안한다. 이를 위해 먼저 각각의 이미지로부터 매칭, 피매칭 템플릿(Template)을 검출한다. 그런 다음 두 이미지의 오버랩(Overlap)되는 부분을 기준하여 기준면으로부터 roll, pitch, yaw 오차를 계산하여 매칭시킨다. 마지막으로, B-Spline 보간법에 의해 매칭된 부분을 연속화한다. 제안된 방법은 실험을 통해 그 응용 가능성을 증명한다.

• International Journal of Aeronautical and Space Sciences
• /
• v.1 no.1
• /
• pp.70-80
• /
• 2000

The attitude knowledge error model is formulated for specifically KOMPSAT attitude determination system using the Lefferts/Markley/Shuster method, and the attitude determination(AD) error analysis is performed so as to investgate the on-board attitude determination capability of KOrea Multi-Purpose SATellite(KOMPSAT) using the covariance analysis method. Analysis results show there is almost no initial value effect on Attitude Determination (AD) error and the sensor noise effects on AD error are drastically decreased as is predicted because of the inherent characteristic of Kalman filter structure. However, it shows that the earth radiance effect of IR-sensor(earth sensor) and the bias effects of both IR-sensor and fine sun sensor are the dominant factors degrading AD error and gyro rate bias estimate error in AD system. Analysis results show that the attitude determination errors of roll, pitch and yaw axes are 0.056, 0.092 and 0.093 degrees, respectively. These numbers are smaller than the required values for the normal mission of KOMPSAT. Also, the selected on-orbit data of KOMPSAT is presented to demonstrate the designed AD system.

• Bulletin of the Korean Space Science Society
• /
• 2003.10a
• /
• pp.71-71
• /
• 2003

과학로켓 3호에 탑재된 자력계의 데이터 분석을 통해서 로켓의 비행자세가 어떻게 비행시간에 따라 어떻게 변화했는지에 대해 논한다. 과학로켓 3호에 탑재된 로켓의 비행 자세 정보 획득을 위한 Fluxgate 자력계인 Attitude Information Magnetometer (AM)의 데이터 분석을 통해 로켓의 비행시간동안 자세가 어떻게 변화했는지 수치해석 프로그램 및 시뮬레이션을 통해 알아보았다 본 연구에서 사용한 수치해석 프로그램은 Spline 보정법, 다항식 수치법인 Bairstow Method, Least square method이며, 자체 개발한 로켓비행정보 획득용 프로그램과 OpenGL을 이용한 로켓의 3차원 시뮬레이션을 통해서 과학로켓 3호의 자세를 나타내는 roll, pitch, yaw의 변화를 알아보았다. 그리고, 이 결과를 이용하여 자력계가 자세제어에 적합한지도 분석하였다.

• Bulletin of the Korean Space Science Society
• /
• 2003.10a
• /
• pp.104-104
• /
• 2003

본 포스터에서는 다목적 위성 2호의 주 탑재체인 MSC(Multi-Spectral Camera)가 TDI(Time Delayed Integration) 방식을 채택함에 따라, TDI에 의해 MSC 영상 자료가 어떻게 영향을 받게 되는 지를 연구한 내용을 설명한다. MSC는 지상 해상도가 1m인 고해상도에서 영상을 촬영하기 때문에 상대적으로 입사 광량이 부족한 문제를 안고 있음에 따라 32 line의 TDI 방식을 사용한다. TDI 방식을 사용하여 MSC에서 직하방향으로 영상을 촬영할 경우, 영상의 가운데 pixel에서 멀어질수록 TDI에 의해 영상의 MTF 값이 떨어지는 결과가 발생한다. 또한, 다목적 위성 2호는 Roll 축을 중심으로 $\pm$30도 Pitch 축을 중심으로 $\pm$30도 tilt를 하여 영상을 촬영하도록 운영될 예정이기 때문에 더더욱 TDI에 의채 영상의 MTF 값이 떨어지는 결과가 발생하게 된다. 이외에도 TDI는 다목적 위성 2호의 고도가 감소하거나, Yaw 축의 변화, Jitter 등에 의해서도 영상의 MTF 값이 감소하게 된다. 물론 MSC CCD pixel의 sampling rate인 Line Rate 값을 각각의 경우에 따라 적절한 값을 부여함으로써 TDI에 의한 MTF 값의 감소를 많은 부분은 수습할 수 있으나 완벽한 보정은 힘든 상황이다.

• Journal of Korea Multimedia Society
• /
• v.19 no.3
• /
• pp.642-649
• /
• 2016

This paper presents a method for conversion of muscular sense into both visual and auditory senses based on synesthetic perception. Muscular sense can be defined by rotation angles, direction changes and motion degrees of human body. Synesthetic interconversion can be made by learning, so that it can be possible to create intentional synesthetic phenomena. In this paper, the muscular sense was converted into both color and sound signals which comprise the great majority of synesthetic phenomena. The measurement of muscular sense was performed by using the AHRS(attitude heading reference system). Roll, yaw and pitch signals of the AHRS were converted into three basic elements of color as well as sound, respectively. The proposed method was finally applied to a wearable device, Samsung gear S, successfully.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.11
• /
• pp.1044-1051
• /
• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.6
• /
• pp.871-878
• /
• 2003

With the development of micro -technology, the demand for micro actual ing device is increasing. But, it is difficult to achieve high resolution and wide bandwidth with the conventional contact systems. So, the contact-free systems which are suspended or levitated by magnetic force or air bearing were proposed. These systems can be applied to high precision stages and alignment apparatuses. This paper describes a magnetically suspended system with four degrees of freedom which are composed of three rotations (roll, pitch, yaw), and one translation ( z). The operating principle and the structure of the system are similar to variable reluctance type electric machines. In this study, the force analysis is executed using magnetic circuit and virtual work principle, and the equations that describe the dynamics of the system are presented. The multivariable PID controller is adapted to the system and the experiment is executed.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1998.03a
• /
• pp.143-147
• /
• 1998

As the accuracy of manufactured goods needed high-accuracy processing has made the efficiency of NC and measurment technology develop, the innovation of machine tools has influence the development of the semi-conductor and optical technology. We can mention that a traction role of the acceleration for the development like that depends on the development of the measurement technics - Stylus instrument method, STM, SEM, Laser interferometer method - which are used for measuring the movement accuracy of machine tools. The movement error factors in movement accuracy are expressed as yaw, roll, and pitch etc. Machining center has 21 movement error factors including of 3 axies joint errors because that has 3 axies and has been measured as the standard of the unloaded condition until now inspite of getting static, dynamic, and servo-gain errors in the case of expending the error range. Therefore, this study tries to measure position accuracy according to loading on the X-Y table of the machining center.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.5
• /
• pp.674-679
• /
• 1998

In this paper, a new coarse alignment algorithm is proposed for roughly determining the initial attitude of the vehicle. The algorithm, referred as two-step coarse alignment algorithm, computes roll and pitch angle of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. With the geometric relation between sensor outputs and attitude angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm that computes a transformation matrix using accelerometer md gyro outputs simultaneously. The simulation is also performed by varying the sensor errors. The results show that the proposed two-step coarse alignment algorithm has better performance for east tilt angle.

• Proceedings of the KSR Conference
• /
• 2010.06a
• /
• pp.30-35
• /
• 2010

The railway vehicle is a multi-body system running on the track which consists of carbody, bogie and wheelset, each of components is connected with rigid mass, spring and damper. each of components has translation motions of longitudinal (X axis), lateral(Y axis) and vertical(Z axis) direction, and rotation motions of X, Y, Z axis which are named Rolling, Pitching and Yawing. The vibration mode of railway vehicle is difficult to find the characteristics of motion during the operation on the track because these happen to independence or duplication motion caused by vehicle, wheel/rail and track irregularity etc. This paper presents the result of ramp test to show the bounce, roll, pitch and yaw mode frequency of the railway vehicle.