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公开(公告)号：KR1020130045014A
公开(公告)日：2013-05-03
申请号：KR1020110109426
申请日：2011-10-25
Applicant: 서울대학교산학협력단
CPC classification number: B25J13/02 , A61B34/30 , A61B34/74 , A61B34/76 , A61B2034/742 , G05G9/04788
Abstract: PURPOSE: An apparatus for a surgical robot is provided to reduce fatigability of a surgeon by providing convenient and safe surgery environment. CONSTITUTION: A stick manipulating member(20) connects a bottom part to a support member(10), and is moved left and right and forward and backward around a connection part to manipulate a surgery robot which has an end manipulation device. A control unit controls the operation of the surgery robot by manipulating the stick manipulation member.
Abstract translation: 目的：提供一种手术机器人装置，通过提供方便，安全的手术环境来减轻外科医生的疲劳。 构成：杆操作构件（20）将底部连接到支撑构件（10），并且围绕连接部分左右移动并且向前和向后移动，以操纵具有终端操纵装置的手术机器人。 控制单元通过操纵杆操作构件来控制手术机器人的操作。
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公开(公告)号：KR1020120001925A
公开(公告)日：2012-01-05
申请号：KR1020100062557
申请日：2010-06-30
Applicant: 삼성전자주식회사 , 서울대학교산학협력단
CPC classification number: G01C22/006
Abstract: PURPOSE: A waking state estimating apparatus and method for estimation of step length using a portable terminal are provided to improve the accuracy of step length estimation in a portable terminal. CONSTITUTION: A waking state estimating method for estimation of step length using a portable terminal comprises a step(505) of setting an observation row using estimated temporary step length, acceleration distribution, and step frequency, a step of creating an observation probability vector, which includes probabilities according to walking state based on the observation row, a step of calculating the final probabilities according to walking state by multiplying the observation probability vector by one or more of state transition probability vectors, a step(507) of determining a walking state having the maximum final probability as the final walking state, and a step(509) of estimating the temporary step length using integral parameters.
Abstract translation: 目的：提供一种用于使用便携式终端估计步长的唤醒状态估计装置和方法，以提高便携式终端中的步长估计的精度。 构成：使用便携式终端来估计步长的醒状状态估计方法包括使用估计的临时步长，加速度分布和步进频率设定观察行的步骤（505），创建观察概率向量的步骤，其中 包括根据观察行的行走状态的概率，通过将观察概率向量乘以一个或多个状态转移概率向量，根据步行状态计算最终概率的步骤，确定具有 作为最终步行状态的最大最终概率，以及使用积分参数估计临时步长的步骤（509）。
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公开(公告)号：KR100998314B1
公开(公告)日：2010-12-03
申请号：KR1020090034634
申请日：2009-04-21
Applicant: 서울대학교산학협력단
Abstract: 본 발명은 SRAM 기반의 FPGA(Field Programmable Gate Array)에서 오류를 검출하고 복구하는 논리회로에 관한 것이다. 본 발명의 논리회로는 제1 회로부, 제2 회로부, 제3 회로부를 포함한다. 제1 회로부는 이중화된 데이터를 입력받아, 입력받은 데이터 0 및 데이터 1 각각에 대하여 시간 여분 기법을 이용하여 제1 출력 값을 생성한다. 제2 회로부는 제1 회로부로부터 제1 출력 값을 입력받고, 입력받은 제1 출력 값을 이용하여 시간 여분 비교 출력 값과 하드웨어 여분 비교 출력 값을 생성하고, 생성한 시간 여분 비교 출력 값과 하드웨어 여분 비교 출력 값을 이용하여 제1 회로부의 오류 지점을 검출한다. 제3 회로부는 적어도 3개 이상의 하드웨어 여분을 이용하여 적어도 3개 이상의 결과 값 중에서 다수의 값을 결과 값으로 출력함으로써, 검출된 오류를 복구한다.
오류 검출, 오류 복구, 오류 선정, 논리회로, SRAM 기반의 FPGA-
公开(公告)号：KR101693629B1
公开(公告)日：2017-01-09
申请号：KR1020140184803
申请日：2014-12-19
Applicant: 서울대학교산학협력단 , 한국전자통신연구원
IPC: G01C21/10
CPC classification number: G06F3/011 , G01C21/16 , G01C22/006 , G01P15/00 , G06F3/03 , G06F2203/012 , G06K9/00771
Abstract: 본발명의실시예들은, 가상현실상에서보행자의위치를추정하기위한방법및 장치에관한것으로, 본발명의일 실시예에따른로코모션인터페이스장치를보행하는보행자의위치를추정하는방법은, 제 1 센싱데이터를기반으로입각기(stance phase)를검출하는단계; 상기로코모션인터페이스장치로부터상기로코모션인터페이스장치의구동속도정보를수신하는단계; 및제 2 센싱데이터에칼만필터(Kalman filter)를적용하여상기보행자의보폭을추정하되, 상기입각기에의상기로코모션인터페이스장치의구동속도를고려하여상기보폭을추정하는단계를포함한다. 본발명의실시예들에따르면, 가상현실상에서보행자가실제로움직인거리및 위치를추정할수 있다.
Abstract translation: 提供了一种用于在虚拟现实中估计行人的位置的方法和装置。 估计在运动界面装置上行走的位置的方法包括：基于第一感测数据检测姿态相位; 从移动接口装置接收移动接口装置的驾驶速度信息; 并且基于第二感测数据估计行人的步长，其中考虑到姿态阶段中的运动界面装置的行驶速度来估计步长。 可以估计行人的实际行驶距离和行人在虚拟现实中的位置。
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公开(公告)号：KR1020160098823A
公开(公告)日：2016-08-19
申请号：KR1020150020925
申请日：2015-02-11
Applicant: 서울대학교산학협력단
Abstract: 보폭정보를계산하기위한방법및 장치가제공된다. 보폭정보계산장치는제1 관성신호및 제2 관성신호를사용하여대상의보폭정보를계산한다. 대상의휴대단말의제1 관성센서로부터제1 관성신호가제공되고, 대상의신발등에부착된제2 관성센서로부터제2 관성신호가제공된다. 보폭정보계산장치는제2 관성신호가제공되는상태이면제2 관성신호를사용하여보폭파라미터를계산하고, 제2 관성신호가제공되지않는상태이면이전에계산된보폭파라미터를사용하여대상의보폭을계산한다.
Abstract translation: 提供了一种计算步幅信息的方法和装置。 用于计算步幅信息的装置使用第一惯性信号和第二惯性信号来计算物体的步幅信息。 第一惯性信号由物体的便携式终端的第一惯性传感器提供，并且第二惯性信号从附接在物体的鞋上的第二惯性传感器提供。 当处于提供第二惯性信号的状态和未设置第二惯性信号的状态下，用于计算步幅信息的装置使用第二惯性信号计算步幅参数，并且装置使用先前计算的步幅参数来计算步幅 一个东西。
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Patent Agency Ranking
公开(公告)号：KR101189697B1
公开(公告)日：2012-10-10
申请号：KR1020100084715
申请日：2010-08-31
Applicant: 서울대학교산학협력단
CPC classification number: B64G1/24 , B64G1/26 , B64G1/283 , B64G2001/245
Abstract: Provided are a fault detector and a fault detection method for an attitude control system (ACS) of a spacecraft. The fault detector includes a first interacting multiple model (IMM) fault detection block for generating a normal model filter of the plurality of actuators and a plurality of upper level filters including fault model filters corresponding to the respective actuators, and detecting faults of the plurality of actuators using an IMM estimation technique from the plurality of upper level filters, and a second IMM fault detection block for generating a plurality of lower level filters each including a fault type model filter of the fault-detected actuator in the first IMM fault detection block, and detecting a fault type of the failed actuator using the IMM estimation technique.
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公开(公告)号：KR1020120080489A
公开(公告)日：2012-07-17
申请号：KR1020110001990
申请日：2011-01-07
Applicant: 삼성전자주식회사 , 서울대학교산학협력단
CPC classification number: G01C21/00 , G01S19/47 , G01C21/26 , G01S19/25 , G01S19/31 , G01S19/41 , G01S19/42 , G08G1/0969 , H04W64/00
Abstract: PURPOSE: An apparatus and method for detecting location information using a navigation algorithm like radio navigation and walking navigation are provided to accurately identify the location information of a user even in an environment in which a car navigation system is unable to provide the location information of the user. CONSTITUTION: An apparatus for detecting location information comprises an UI(User Interface), a GPS(Global Positioning System) receiving unit(103), and a navigation algorithm control unit. The UI interfaces with a user. The GPS receiving unit searches around a GPS satellite and receives pseudo range information from at least one of searched GPS satellites. The navigation algorithm control unit calculates the displacement of a pedestrian terminal based on detected steps of a pedestrian and corrects the displacement of the pedestrian terminal calculated by using the received pseudo range information. The navigation algorithm control unit measures the location of the pedestrian terminal by using a corrected value.
Abstract translation: 目的：提供一种利用诸如无线电导航和步行导航之类的导航算法来检测位置信息的装置和方法，以便即使在汽车导航系统不能提供该位置信息的位置信息的环境中也能准确地识别用户的位置信息 用户。 构成：用于检测位置信息的装置包括UI（用户接口），GPS（全球定位系统）接收单元（103）和导航算法控制单元。 UI与用户界面。 GPS接收单元在GPS卫星周围搜索，并从搜索到的GPS卫星中的至少一个接收伪距信息。 导航算法控制单元基于行人的检测步骤来计算行人终端的位移，并且校正通过使用接收的伪距信息而计算出的行人天线的位移。 导航算法控制单元使用校正值来测量行人天线的位置。
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公开(公告)号：KR1020120029516A
公开(公告)日：2012-03-27
申请号：KR1020100091336
申请日：2010-09-17
Applicant: 서울대학교산학협력단
IPC: G01C21/16
CPC classification number: G01C21/16 , G01C21/24 , G01C25/005 , G01P21/00
Abstract: PURPOSE: A fault detector for an RIMU(Redundant Inertial Measurement Unit) and a detecting method are provided to secure an improved fault detection performance because only signals of low frequency component from signals output from each inertial sensor are used for a modified extended PSA(Parity Space Approach). CONSTITUTION: A fault detector(100) comprises a signal processing unit(110) and a fault detection unit(120). The signal processing unit extracts low frequency component from the N numbers output of inertial sensors. The fault detection unit preforms the fault detection with respect to the inertia sensor through PSA by using the low frequency component of the inertial sensors offered by the signal processing unit.
Abstract translation: 目的：提供用于RIMU（冗余惯性测量单元）的故障检测器和检测方法以确保改进的故障检测性能，因为仅将来自每个惯性传感器的信号的低频分量的信号用于修改的扩展PSA（奇偶校验 空间方法）。 构成：故障检测器（100）包括信号处理单元（110）和故障检测单元（120）。 信号处理单元从惯性传感器的N号输出中提取低频分量。 故障检测单元通过使用由信号处理单元提供的惯性传感器的低频分量，通过PSA对相对于惯性传感器的故障检测进行预处理。
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公开(公告)号：KR1020110090197A
公开(公告)日：2011-08-10
申请号：KR1020100009844
申请日：2010-02-03
Applicant: 서울대학교산학협력단
CPC classification number: B64G1/283 , G05D1/0883 , G06F11/22
Abstract: PURPOSE: A fault detector of driver of space vehicle and a fault detecting method are provided to compare the Estimation posture data, obtained from an estimation filter, to the prediction posture data of a space vehicle obtained from a prediction filter. CONSTITUTION: A fault detector of driver of space vehicle comprises a prediction filter and a detection part. The prediction filter predicts the posture of the space vehicle by using a dynamic model. The detection part comprises the estimation filter which presumes the posture of the space vehicle by using an extended kalman filter based on the dynamic model.
Abstract translation: 目的：提供一种空间车辆驾驶员故障检测器和故障检测方法，将从估计滤波器获得的估计姿势数据与从预测滤波器获得的空间车辆的预测姿势数据进行比较。 构成：空间车辆驾驶员的故障检测器包括预测滤波器和检测部分。 预测滤波器通过使用动态模型来预测空间车辆的姿势。 检测部分包括基于动态模型通过使用扩展卡尔曼滤波器来假定空间车辆的姿势的估计滤波器。
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