• Title/Summary/Keyword: 중력 센서

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A Study on the Performance Improvement of Wall Climbing Robot using Physical Variable Analysis (물리적 요인 분석을 통한 벽면 이동 로봇의 성능 개선 연구)

  • Lee, Ji-Bin;Jeong, Myeong-Su;Jeon, Jin-Seong;Baek, Jong-Hwan;Bong, Dae-Geun;Lee, Ji-Hyeon;Kim, Sang-Hoon
    • Proceedings of the Korea Information Processing Society Conference
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    • 2015.04a
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    • pp.1071-1074
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    • 2015
  • 본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 이용하고 환경 탐지용 센서를 부착한 벽면 이동형 로봇의 물리적 해석을 통한 이동 성능 개선에 관한 연구로서, 대형 구조물의 안전 검사 및 위험한 시설물의 보수 작업등을 보조하기 위한 목적이 있다. 로봇의 무게에 따른 중력을 견딜 수 있는 강력한 진공흡착방식과 고성능 모터 제어에 의한 바퀴 이동방식을 혼합하고 효율적으로 평형을 유지 또는 제어하기 위하여 로봇에 미치는 다양한 힘과 모멘트를 분석하고 수식화 하였으며 기존의 수직이동 속도를 개선하기 위한 로봇의 물리적 변수를 추출하여 변수와 이동력간의 관계를 고찰하였다.

Study of Fall Detection System According to Number of Nodes of Hidden-Layer in Long Short-Term Memory Using 3-axis Acceleration Data (3축 가속도 데이터를 이용한 장단기 메모리의 노드수에 따른 낙상감지 시스템 연구)

  • Jeong, Seung Su;Kim, Nam Ho;Yu, Yun Seop
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2022.05a
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    • pp.516-518
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    • 2022
  • In this paper, we introduce a dependence of number of nodes of hidden-layer in fall detection system using Long Short-Term Memory that can detect falls. Its training is carried out using the parameter theta(θ), which indicates the angle formed by the x, y, and z-axis data for the direction of gravity using a 3-axis acceleration sensor. In its learning, validation is performed and divided into training data and test data in a ratio of 8:2, and training is performed by changing the number of nodes in the hidden layer to increase efficiency. When the number of nodes is 128, the best accuracy is shown with Accuracy = 99.82%, Specificity = 99.58%, and Sensitivity = 100%.

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Implementation of Acceleration Sensor-based Human activity and Fall Classification Algorithm (가속도 센서기반의 인체활동 및 낙상 분류를 위한 알고리즘 구현)

  • Hyun Park;Jun-Mo Park;Yeon-Chul, Ha
    • Journal of the Institute of Convergence Signal Processing
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    • v.23 no.2
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    • pp.76-83
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    • 2022
  • With the recent development of IT technology, research and interest in various biosignal measuring devices is increasing. As an aging society is in full swing, research on the elderly population using IT-related technologies is continuously developing. This study is about the development of life pattern detection and fall detection algorithm, which is one of the medical service areas for the elderly, who are rapidly developing as they enter a super-aged society. This study consisted of a system using a 3-axis accelerometer and an electrocardiogram sensor, collected data, and then analyzed the data. It was confirmed that behavioral patterns could be classified from the actual research results. In order to evaluate the usefulness of the human activity monitoring system implemented in this study, experiments were performed under various conditions, such as changes in posture and walking speed, and signal magnitude range and signal vector magnitude parameters reflecting the acceleration of gravity of the human body and the degree of human activity. was extracted. And the possibility of discrimination according to the condition of the subject was examined by these parameter values.

Ensemble of Nested Dichotomies for Activity Recognition Using Accelerometer Data on Smartphone (Ensemble of Nested Dichotomies 기법을 이용한 스마트폰 가속도 센서 데이터 기반의 동작 인지)

  • Ha, Eu Tteum;Kim, Jeongmin;Ryu, Kwang Ryel
    • Journal of Intelligence and Information Systems
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    • v.19 no.4
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    • pp.123-132
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    • 2013
  • As the smartphones are equipped with various sensors such as the accelerometer, GPS, gravity sensor, gyros, ambient light sensor, proximity sensor, and so on, there have been many research works on making use of these sensors to create valuable applications. Human activity recognition is one such application that is motivated by various welfare applications such as the support for the elderly, measurement of calorie consumption, analysis of lifestyles, analysis of exercise patterns, and so on. One of the challenges faced when using the smartphone sensors for activity recognition is that the number of sensors used should be minimized to save the battery power. When the number of sensors used are restricted, it is difficult to realize a highly accurate activity recognizer or a classifier because it is hard to distinguish between subtly different activities relying on only limited information. The difficulty gets especially severe when the number of different activity classes to be distinguished is very large. In this paper, we show that a fairly accurate classifier can be built that can distinguish ten different activities by using only a single sensor data, i.e., the smartphone accelerometer data. The approach that we take to dealing with this ten-class problem is to use the ensemble of nested dichotomy (END) method that transforms a multi-class problem into multiple two-class problems. END builds a committee of binary classifiers in a nested fashion using a binary tree. At the root of the binary tree, the set of all the classes are split into two subsets of classes by using a binary classifier. At a child node of the tree, a subset of classes is again split into two smaller subsets by using another binary classifier. Continuing in this way, we can obtain a binary tree where each leaf node contains a single class. This binary tree can be viewed as a nested dichotomy that can make multi-class predictions. Depending on how a set of classes are split into two subsets at each node, the final tree that we obtain can be different. Since there can be some classes that are correlated, a particular tree may perform better than the others. However, we can hardly identify the best tree without deep domain knowledge. The END method copes with this problem by building multiple dichotomy trees randomly during learning, and then combining the predictions made by each tree during classification. The END method is generally known to perform well even when the base learner is unable to model complex decision boundaries As the base classifier at each node of the dichotomy, we have used another ensemble classifier called the random forest. A random forest is built by repeatedly generating a decision tree each time with a different random subset of features using a bootstrap sample. By combining bagging with random feature subset selection, a random forest enjoys the advantage of having more diverse ensemble members than a simple bagging. As an overall result, our ensemble of nested dichotomy can actually be seen as a committee of committees of decision trees that can deal with a multi-class problem with high accuracy. The ten classes of activities that we distinguish in this paper are 'Sitting', 'Standing', 'Walking', 'Running', 'Walking Uphill', 'Walking Downhill', 'Running Uphill', 'Running Downhill', 'Falling', and 'Hobbling'. The features used for classifying these activities include not only the magnitude of acceleration vector at each time point but also the maximum, the minimum, and the standard deviation of vector magnitude within a time window of the last 2 seconds, etc. For experiments to compare the performance of END with those of other methods, the accelerometer data has been collected at every 0.1 second for 2 minutes for each activity from 5 volunteers. Among these 5,900 ($=5{\times}(60{\times}2-2)/0.1$) data collected for each activity (the data for the first 2 seconds are trashed because they do not have time window data), 4,700 have been used for training and the rest for testing. Although 'Walking Uphill' is often confused with some other similar activities, END has been found to classify all of the ten activities with a fairly high accuracy of 98.4%. On the other hand, the accuracies achieved by a decision tree, a k-nearest neighbor, and a one-versus-rest support vector machine have been observed as 97.6%, 96.5%, and 97.6%, respectively.

Extraction of Gravity-typed Accessibility Index using Remotely Sensed Imagery and Its Application (위성영상정보의 중력모델기반 접근성지수 추출연계 및 적용)

  • Lee, Kiwon;Oh, Se Gyong;Lee, Bong Gyu
    • Journal of the Korean Association of Geographic Information Studies
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    • v.6 no.3
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    • pp.61-72
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    • 2003
  • Recently, demands with practical applications using high resolution imagery are increasing, according to addressing new sensor data. Since late 1990s, attempts for application to transportation problems of satellite imagery data have been intensively carried out in US, and these kinds of studies are being categorized into the name of RS-T(remote sensing in transportation). Further, this study is also linked with GIS-T(GIS for transportation), being in the matured stage, and then it contributes to wide uses of remotely sensed imagery. In this study, RS-T is briefly summarized. Later, in order to apply urban transportation analysis with satellite imagery as ancillary data, implementation, as prototyped extension program, for extraction of gravity-typed accessibility indices of transportation geography is performed in the ArcView-GIS environment. It is thought that applied results by two models among implemented models in this study can be utilized to characterize transportation accessibility in a region and to apply as useful statistics related to urban transportation status for regional transportation planning, if time series data are used.

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A 5-DOF Ground Testbed for Developing Rendezvous/Docking Algorithm of a Nano-satellite (초소형 위성의 랑데부/도킹 알고리즘 개발을 위한 5자유도 지상 테스트베드)

  • Choi, Won-Sub;Cho, Dong-Hyun;Song, Ha-Ryong;Kim, Jong-Hak;Ko, Su-Jeong;Kim, Hae-Dong
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.43 no.12
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    • pp.1124-1131
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    • 2015
  • This paper describes a 5-dof ground testbed which emulates micro-gravity environment for developing Rendezvous/docking algorithm of a nano-satellite. The testbed consists of two parts, the low part which eliminates friction force with ground and the upper part which has 3-dof rotational motion with respect to the low part. For Vison-based autonomous navigation algorithm, we use camera, LIDAR and AHRS as sensors and eight cold gas thrusters and three axis directional reaction wheels as actuators. All system software are implemented with C++ based on on-board computer and Linux OS.

Analysis of the Structural Behaviours of Aluminum Tunnel Lining in Joomunjin Standard Soil by Centrifugal Model Tests (원심모형실험을 이용한 주문진 표준사 지반내 알루미늄 모형 터널 복공의 역학적 거동에 관한 연구)

  • 김택곤;김영근;박중배;이희근
    • Tunnel and Underground Space
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    • v.9 no.2
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    • pp.114-130
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    • 1999
  • It is very important to study on the structural behaviors of structurally damaged tunnel linings. A series of centrifuge model tests were performed in order to investigate different behaviors of tunnel linings. A 1/100-scaled aluminum horseshoe tunnel linings with a radius 5 cm, height 8 cm were buried in a depth with dry Joomunjin standard sand, the relative density of which was 86%. Such sectional forces as bending moments and thrusts along the tunnel circumference were measured by twelve strain gages. Earth pressures in soil mass and on the outside of lining model were estimated by pressure transducers, ground surface settlements at a center and edges by using LVDTs.

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Development of In-wheel Actuator for Active Walking Aids Equipped with Torque Sensor for User Intention Recognition (토크센서 기반 사용자의도 파악이 가능한 보행보조기용 인휠 구동기 개발)

  • Lim, Seung-Hwan;Kim, Tae-Keun;Kim, Dong Yeop;Hwang, Jung-Hoon;Kim, Bong-Seok;Park, Chang Woo;Lee, Jae-Min;Hong, Daehie
    • Journal of the Korean Society for Precision Engineering
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    • v.31 no.12
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    • pp.1141-1146
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    • 2014
  • As life expectancy becomes longer, reduction of human muscular strength threatens quality of human life. Many robotic devices have thus been developed to support and help human daily life. This paper deals with a new type of in-wheel actuator that can be effectively used for the robotic devices. BLDC motor, drive board, brake, ARS (Attribute Reference System), and torque sensor are combined in the single actuator module. The torque sensor is used to recognize human intention and the in-wheel actuator drives walking aids in our system. Its feasibility was tested with the active walking aid device equipped with the in-wheel actuator. Based on it, we designed an admittance filter algorithm to react on uphill and downhill drive. By adjusting mass, damping, and spring parameters in accordance with the ARS output, it provided convenient drive to the old on uphill and downhill walks.

Construction of 3-Axis Flux-gate Magnetometer for Attitude Control of Satellite (인공위성의 자세제어용 3-축 Flux-gate 마그네토미터 제작)

  • Son, De-Rac
    • Journal of the Korean Magnetics Society
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    • v.16 no.3
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    • pp.182-185
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    • 2006
  • In this work, we have constructed 3-axis flux-gate magnetometer for the attitude control of satellite. The constructed magnetometer shows uncertainty of ${\pm}1%$, noise level of $0.2nT/\sqrt{Hz}$ at 1 Hz under 1W power consumption. Environment test for satellite component, acceleration test and thermal cycle test were carried out. For the acceleration test, magnetometer was vibrated frequency ranging from 10 Hz to 1 kHz at 15 g (g : gravitational acceleration at earth), and for thermal cycle test, 4 times of thermal cycle were carried out temperature ranging from $-55^{\circ}C\;to\;+80^{\circ}C$ under vacuum of $1x10^{-6}Torr$.

Review of Remote Sensing Studies on Groundwater Resources (원격탐사의 지하수 수자원 적용 사례 고찰)

  • Lee, Jeongho
    • Korean Journal of Remote Sensing
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    • v.33 no.5_3
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    • pp.855-866
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    • 2017
  • Several research cases using remote sensing methods to analyze changes of storage and dynamics of groundwater aquifer were reviewed in this paper. The status of groundwater storage, in an area with regional scale, could be qualitatively inferred from geological feature, surface water altimetry and topography, distribution of vegetation, and difference between precipitation and evapotranspiration. These qualitative indicators could be measured by geological lineament analysis, airborne magnetic survey, DEM analysis, LAI and NDVI calculation, and surface energy balance modeling. It is certain that GRACE and InSAR have received remarkable attentions as direct utilization from satellite data for quantification of groundwater storage and dynamics. GRACE, composed of twin satellites having acceleration sensors, could detect global or regional microgravity changes and transform them into mass changes of water on surface and inside of the Earth. Numerous studies in terms of groundwater storage using GRACE sensor data were performed with several merits such that (1) there is no requirement of sensor data, (2) auxiliary data for quantification of groundwater can be entirely obtained from another satellite sensors, and (3) algorithms for processing measured data have continuously progressed from designated data management center. The limitations of GRACE for groundwater storage measurement could be defined as follows: (1) In an area with small scale, mass change quantification of groundwater might be inaccurate due to detection limit of the acceleration sensor, and (2) the results would be overestimated in case of combination between sensor and field survey data. InSAR can quantify the dynamic characteristics of aquifer by measuring vertical micro displacement, using linear proportional relation between groundwater head and vertical surface movement. However, InSAR data might now constrain their application to arid or semi-arid area whose land cover appear to be simple, and are hard to apply to the area with the anticipation of loss of coherence with surface. Development of GRACE and InSAR sensor data preprocessing algorithms optimized to topography, geology, and natural conditions of Korea should be prioritized to regionally quantify the mass change and dynamics of the groundwater resources of Korea.